diff --git "a/RoboAtom-Bench/gt.jsonl" "b/RoboAtom-Bench/gt.jsonl"
new file mode 100644--- /dev/null
+++ "b/RoboAtom-Bench/gt.jsonl"
@@ -0,0 +1,500 @@
+{"action_config": [{"action_text": "Picks up the tape.", "end_frame": 71, "seg_id": 0, "skill": "Pick", "start_frame": 0}, {"action_text": "Places the tape on the table.", "end_frame": 123, "seg_id": 1, "skill": "Place", "start_frame": 72}, {"action_text": "Picks up the tape.", "end_frame": 160, "seg_id": 2, "skill": "Pick", "start_frame": 124}, {"action_text": "Places the tape into the brown basket.", "end_frame": 241, "seg_id": 3, "skill": "Place", "start_frame": 161}], "benchmark_id": "benchmark:004957f135e186fb5052"}
+{"action_config": [{"action_text": "Closes the side drawer.", "end_frame": 177, "seg_id": 0, "skill": "Close", "start_frame": 0}], "benchmark_id": "benchmark:04d3845c6c50b42e7bb5"}
+{"action_config": [{"action_text": "Picks up the pear.", "end_frame": 40, "seg_id": 0, "skill": "Pick", "start_frame": 0}, {"action_text": "Places the pear into the pink bowl.", "end_frame": 81, "seg_id": 1, "skill": "Place", "start_frame": 41}], "benchmark_id": "benchmark:07b23c218c7386f2c006"}
+{"action_config": [{"action_text": "Places the cucumber in the basket.", "end_frame": 114, "seg_id": 0, "skill": "Place", "start_frame": 0}], "benchmark_id": "benchmark:09419b06be8284f1cc1b"}
+{"action_config": [{"action_text": "Closes the rear right burner.", "end_frame": 122, "seg_id": 0, "skill": "Close", "start_frame": 0}], "benchmark_id": "benchmark:0d81c1e48c0a4901dcd3"}
+{"action_config": [{"action_text": "Puts up the poster.", "end_frame": 1159, "seg_id": 0, "skill": "Place", "start_frame": 0}], "benchmark_id": "benchmark:0fc94d768764725d4819"}
+{"action_config": [{"action_text": "Pushes the plate on the table.", "end_frame": 191, "seg_id": 0, "skill": "Push", "start_frame": 0}, {"action_text": "Picks up the bread.", "end_frame": 302, "seg_id": 1, "skill": "Pick", "start_frame": 192}, {"action_text": "Places the bread on the plate.", "end_frame": 550, "seg_id": 2, "skill": "Place", "start_frame": 303}], "benchmark_id": "benchmark:108b123f2a277494b320"}
+{"action_config": [{"action_text": "Picks up the ketchup bottle.", "end_frame": 66, "seg_id": 0, "skill": "Pick", "start_frame": 0}, {"action_text": "Places the ketchup bottle into the basket.", "end_frame": 149, "seg_id": 1, "skill": "Place", "start_frame": 67}], "benchmark_id": "benchmark:11665083c9017fbb2aee"}
+{"action_config": [{"action_text": "Picks up the packaging bag.", "end_frame": 89, "seg_id": 0, "skill": "Pick", "start_frame": 0}, {"action_text": "Places the packaging bag into the trash can.", "end_frame": 132, "seg_id": 1, "skill": "Place", "start_frame": 90}, {"action_text": "Picks up the bottle.", "end_frame": 213, "seg_id": 2, "skill": "Pick", "start_frame": 133}, {"action_text": "Places the bottle into the trash can.", "end_frame": 285, "seg_id": 3, "skill": "Place", "start_frame": 214}], "benchmark_id": "benchmark:137318351ffb08495ecf"}
+{"action_config": [{"action_text": "Picks up the razor.", "end_frame": 123, "seg_id": 0, "skill": "Pick", "start_frame": 0}, {"action_text": "Places the razor in the basket.", "end_frame": 272, "seg_id": 1, "skill": "Place", "start_frame": 124}], "benchmark_id": "benchmark:14cf6057090c6b5bff57"}
+{"action_config": [{"action_text": "Picks up the bowl.", "end_frame": 41, "seg_id": 0, "skill": "Pick", "start_frame": 0}, {"action_text": "Places the bowl on top of the cabinet.", "end_frame": 102, "seg_id": 1, "skill": "Place", "start_frame": 42}], "benchmark_id": "benchmark:15b93f1737946e96d3d4"}
+{"action_config": [{"action_text": "Pushes the first cup.", "end_frame": 200, "seg_id": 0, "skill": "Push", "start_frame": 0}, {"action_text": "Picks up the second cup.", "end_frame": 310, "seg_id": 1, "skill": "Pick", "start_frame": 201}, {"action_text": "Places the second cup into the first cup.", "end_frame": 535, "seg_id": 2, "skill": "Place", "start_frame": 311}], "benchmark_id": "benchmark:171d3ef664ad9199fa03"}
+{"action_config": [{"action_text": "Picks up the wine bottle.", "end_frame": 100, "seg_id": 0, "skill": "Pick", "start_frame": 0}, {"action_text": "Places the wine bottle on the rack.", "end_frame": 346, "seg_id": 1, "skill": "Place", "start_frame": 101}], "benchmark_id": "benchmark:199f521b47a3120de2ff"}
+{"action_config": [{"action_text": "Picks up the Rubik's cube.", "end_frame": 214, "seg_id": 0, "skill": "Pick", "start_frame": 0}], "benchmark_id": "benchmark:1e31a7f39e87e79f63f0"}
+{"action_config": [{"action_text": "Picks up the hamburger.", "end_frame": 233, "seg_id": 0, "skill": "Pick", "start_frame": 0}], "benchmark_id": "benchmark:220a2fc9d623b30c1b14"}
+{"action_config": [{"action_text": "Picks up the bar from the counter.", "end_frame": 151, "seg_id": 0, "skill": "Pick", "start_frame": 0}, {"action_text": "Places the bar on the cabinet.", "end_frame": 353, "seg_id": 1, "skill": "Place", "start_frame": 152}], "benchmark_id": "benchmark:22fc66d8f53e3705d2ff"}
+{"action_config": [{"action_text": "Picks up the steak.", "end_frame": 156, "seg_id": 0, "skill": "Pick", "start_frame": 0}, {"action_text": "Places the steak in the sink.", "end_frame": 359, "seg_id": 1, "skill": "Place", "start_frame": 157}], "benchmark_id": "benchmark:2443e16b30c9905235f5"}
+{"action_config": [{"action_text": "Places the orange on the table.", "end_frame": 65, "seg_id": 0, "skill": "Place", "start_frame": 0}], "benchmark_id": "benchmark:24f623591bdac4a64296"}
+{"action_config": [{"action_text": "Picks up the steak from the cabinet.", "end_frame": 97, "seg_id": 0, "skill": "Pick", "start_frame": 0}, {"action_text": "Places the steak on the counter.", "end_frame": 259, "seg_id": 1, "skill": "Place", "start_frame": 98}], "benchmark_id": "benchmark:2b13ff724b71a54590fb"}
+{"action_config": [{"action_text": "Picks up the black bowl next to the plate.", "end_frame": 64, "seg_id": 0, "skill": "Pick", "start_frame": 0}, {"action_text": "Places the black bowl on the plate.", "end_frame": 124, "seg_id": 1, "skill": "Place", "start_frame": 65}], "benchmark_id": "benchmark:2b2b5a67aeb9c5407741"}
+{"action_config": [{"action_text": "Picks up the orange.", "end_frame": 184, "seg_id": 0, "skill": "Pick", "start_frame": 0}, {"action_text": "Places the orange into the box.", "end_frame": 378, "seg_id": 1, "skill": "Place", "start_frame": 185}], "benchmark_id": "benchmark:2b78623f16b17f069eef"}
+{"action_config": [{"action_text": "Picks up the donut.", "end_frame": 225, "seg_id": 0, "skill": "Pick", "start_frame": 0}], "benchmark_id": "benchmark:2ccbe0ea693d7c0d0a50"}
+{"action_config": [{"action_text": "Picks up the toy.", "end_frame": 127, "seg_id": 0, "skill": "Pick", "start_frame": 0}, {"action_text": "Places the toy into the blue basket.", "end_frame": 275, "seg_id": 1, "skill": "Place", "start_frame": 128}, {"action_text": "Picks up the pink box.", "end_frame": 479, "seg_id": 2, "skill": "Pick", "start_frame": 276}, {"action_text": "Places the pink box into the blue basket.", "end_frame": 651, "seg_id": 3, "skill": "Place", "start_frame": 480}], "benchmark_id": "benchmark:2d175e830ed887f7b666"}
+{"action_config": [{"action_text": "Picks up the water bottle.", "end_frame": 329, "seg_id": 0, "skill": "Pick", "start_frame": 0}], "benchmark_id": "benchmark:2d42734e30b94eb95a7b"}
+{"action_config": [{"action_text": "Picks up the red toy bus.", "end_frame": 102, "seg_id": 0, "skill": "Pick", "start_frame": 0}], "benchmark_id": "benchmark:2e0d22c2e250cf8e3c41"}
+{"action_config": [{"action_text": "Picks up the donut.", "end_frame": 111, "seg_id": 0, "skill": "Pick", "start_frame": 0}], "benchmark_id": "benchmark:2f6ae44354cfe6d71f82"}
+{"action_config": [{"action_text": "Pulls open the drawer.", "end_frame": 180, "seg_id": 0, "skill": "Pull", "start_frame": 0}], "benchmark_id": "benchmark:2fb33688de39bf799a03"}
+{"action_config": [{"action_text": "Picks up the car.", "end_frame": 288, "seg_id": 0, "skill": "Pick", "start_frame": 0}, {"action_text": "Places the car in the box.", "end_frame": 634, "seg_id": 1, "skill": "Place", "start_frame": 289}], "benchmark_id": "benchmark:2ffbba23fba534abe3e7"}
+{"action_config": [{"action_text": "Folds the pink towel.", "end_frame": 419, "seg_id": 0, "skill": "Fold", "start_frame": 0}, {"action_text": "Folds the pink towel.", "end_frame": 992, "seg_id": 1, "skill": "Fold", "start_frame": 420}], "benchmark_id": "benchmark:31bb070f3c2c26b8b0b6"}
+{"action_config": [{"action_text": "Presses down the toaster lever.", "end_frame": 371, "seg_id": 0, "skill": "Press", "start_frame": 0}], "benchmark_id": "benchmark:32a77e5c1c93575750ba"}
+{"action_config": [{"action_text": "Picks up the shorts.", "end_frame": 103, "seg_id": 0, "skill": "Pick", "start_frame": 0}, {"action_text": "Places the shorts on the table.", "end_frame": 157, "seg_id": 1, "skill": "Place", "start_frame": 104}, {"action_text": "Folds the shorts with both arms.", "end_frame": 1138, "seg_id": 2, "skill": "Fold", "start_frame": 158}, {"action_text": "Pulls the shorts.", "end_frame": 1381, "seg_id": 3, "skill": "Pull", "start_frame": 1139}], "benchmark_id": "benchmark:330ae8b7146f8a1905ac"}
+{"action_config": [{"action_text": "Folds the beige shorts over the upper pant leg and waistband.", "end_frame": 804, "seg_id": 0, "skill": "Fold", "start_frame": 0}, {"action_text": "Folds the beige shorts.", "end_frame": 2397, "seg_id": 1, "skill": "Fold", "start_frame": 805}], "benchmark_id": "benchmark:350c7775447387f6c833"}
+{"action_config": [{"action_text": "Picks up the corn from the counter.", "end_frame": 218, "seg_id": 0, "skill": "Pick", "start_frame": 0}, {"action_text": "Places the corn in the sink.", "end_frame": 429, "seg_id": 1, "skill": "Place", "start_frame": 219}], "benchmark_id": "benchmark:3777923055d27277826c"}
+{"action_config": [{"action_text": "Pulls open the top drawer.", "end_frame": 294, "seg_id": 0, "skill": "Pull", "start_frame": 0}], "benchmark_id": "benchmark:388a4ef79c3ae142f4e1"}
+{"action_config": [{"action_text": "Picks up the cuboid.", "end_frame": 97, "seg_id": 0, "skill": "Pick", "start_frame": 0}, {"action_text": "Places the cuboid on the cube.", "end_frame": 586, "seg_id": 1, "skill": "Place", "start_frame": 98}], "benchmark_id": "benchmark:39d10028e2f5f1dfc692"}
+{"action_config": [{"action_text": "Picks up the white pen.", "end_frame": 197, "seg_id": 0, "skill": "Pick", "start_frame": 0}, {"action_text": "Places the white pen on the table.", "end_frame": 403, "seg_id": 1, "skill": "Place", "start_frame": 198}], "benchmark_id": "benchmark:3b4b733b53cf9f30e388"}
+{"action_config": [{"action_text": "Picks up the diamond.", "end_frame": 91, "seg_id": 0, "skill": "Pick", "start_frame": 0}, {"action_text": "Places the diamond into the box.", "end_frame": 194, "seg_id": 1, "skill": "Place", "start_frame": 92}, {"action_text": "Closes the lid of the box.", "end_frame": 304, "seg_id": 2, "skill": "Close", "start_frame": 195}], "benchmark_id": "benchmark:3bb2b56d890400065a01"}
+{"action_config": [{"action_text": "Picks up the blue bowl.", "end_frame": 39, "seg_id": 0, "skill": "Pick", "start_frame": 0}, {"action_text": "Places the blue bowl on the table.", "end_frame": 54, "seg_id": 1, "skill": "Place", "start_frame": 40}, {"action_text": "Picks up the green bown.", "end_frame": 70, "seg_id": 2, "skill": "Pick", "start_frame": 55}, {"action_text": "Places the green bowl into the blue bowl.", "end_frame": 122, "seg_id": 3, "skill": "Place", "start_frame": 71}], "benchmark_id": "benchmark:3bf124ea103fe9269d7d"}
+{"action_config": [{"action_text": "Picks up the belt.", "end_frame": 195, "seg_id": 0, "skill": "Pick", "start_frame": 0}], "benchmark_id": "benchmark:3e9bfc9a49ddaa067868"}
+{"action_config": [{"action_text": "Picks up the plate.", "end_frame": 61, "seg_id": 0, "skill": "Pick", "start_frame": 0}, {"action_text": "Places the plate on the table.", "end_frame": 149, "seg_id": 1, "skill": "Place", "start_frame": 62}], "benchmark_id": "benchmark:3fef263bb5a866301f57"}
+{"action_config": [{"action_text": "Pulls open the top drawer.", "end_frame": 65, "seg_id": 0, "skill": "Pull", "start_frame": 0}, {"action_text": "Picks up the bowl.", "end_frame": 124, "seg_id": 1, "skill": "Pick", "start_frame": 66}, {"action_text": "Places the bowl into the top drawer.", "end_frame": 186, "seg_id": 2, "skill": "Place", "start_frame": 125}], "benchmark_id": "benchmark:42fbdbe7611c602bd04d"}
+{"action_config": [{"action_text": "Picks up the bowl.", "end_frame": 59, "seg_id": 0, "skill": "Pick", "start_frame": 0}, {"action_text": "Places the bowl on the plate.", "end_frame": 124, "seg_id": 1, "skill": "Place", "start_frame": 60}], "benchmark_id": "benchmark:4ba5bf81249d25e0d926"}
+{"action_config": [{"action_text": "Picks up the brush with the right arm and the dustpan with the left arm.", "end_frame": 239, "seg_id": 0, "skill": "Pick", "start_frame": 0}, {"action_text": "Sweeps the trash in the dustpan.", "end_frame": 735, "seg_id": 1, "skill": "Sweep", "start_frame": 240}, {"action_text": "Pours the trash in the bin.", "end_frame": 858, "seg_id": 2, "skill": "Pour", "start_frame": 736}, {"action_text": "Places the brush on the table with the right arm and the dustpan on the table with the left arm.", "end_frame": 1192, "seg_id": 3, "skill": "Place", "start_frame": 859}], "benchmark_id": "benchmark:4ba75dab3cda62b6f6de"}
+{"action_config": [{"action_text": "Picks up the bowl.", "end_frame": 56, "seg_id": 0, "skill": "Pick", "start_frame": 0}, {"action_text": "Places the bowl on the plate.", "end_frame": 83, "seg_id": 1, "skill": "Place", "start_frame": 57}], "benchmark_id": "benchmark:4d3a1ae4de5d33777bf6"}
+{"action_config": [{"action_text": "Picks up the bowl on the left side.", "end_frame": 258, "seg_id": 0, "skill": "Pick", "start_frame": 0}, {"action_text": "Places the bowl on top of the middle bowl.", "end_frame": 411, "seg_id": 1, "skill": "Place", "start_frame": 259}, {"action_text": "Picks up the bowl on the right side.", "end_frame": 572, "seg_id": 2, "skill": "Pick", "start_frame": 412}, {"action_text": "Places the bowl on top of the middle bowls.", "end_frame": 915, "seg_id": 3, "skill": "Place", "start_frame": 573}], "benchmark_id": "benchmark:4d62a75e8a289054ff64"}
+{"action_config": [{"action_text": "Picks up the cup.", "end_frame": 323, "seg_id": 0, "skill": "Pick", "start_frame": 0}, {"action_text": "Places the cup upright on the mat.", "end_frame": 821, "seg_id": 1, "skill": "Place", "start_frame": 324}], "benchmark_id": "benchmark:4e6d95ab081131bc8484"}
+{"action_config": [{"action_text": "Picks up the dish.", "end_frame": 116, "seg_id": 0, "skill": "Pick", "start_frame": 0}], "benchmark_id": "benchmark:4ea0cd64dfd5a5a381ac"}
+{"action_config": [{"action_text": "Picks up the glasses with both arms.", "end_frame": 867, "seg_id": 0, "skill": "Pick", "start_frame": 0}, {"action_text": "Places the glasses into the glass box.", "end_frame": 1249, "seg_id": 1, "skill": "Place", "start_frame": 868}, {"action_text": "Folds the glass.", "end_frame": 2216, "seg_id": 2, "skill": "Fold", "start_frame": 1250}, {"action_text": "Closes the glass box.", "end_frame": 2463, "seg_id": 3, "skill": "Close", "start_frame": 2217}], "benchmark_id": "benchmark:4f227eded962beafa3ba"}
+{"action_config": [{"action_text": "Picks up the crumpled paper.", "end_frame": 122, "seg_id": 0, "skill": "Pick", "start_frame": 0}, {"action_text": "Places the crumpled paper into the trash can.", "end_frame": 226, "seg_id": 1, "skill": "Place", "start_frame": 123}], "benchmark_id": "benchmark:4f5867484d5b10d8cf45"}
+{"action_config": [{"action_text": "Picks up the book cover with both arms.", "end_frame": 131, "seg_id": 0, "skill": "Pick", "start_frame": 0}, {"action_text": "Closes the book with both arms.", "end_frame": 709, "seg_id": 1, "skill": "Close", "start_frame": 132}], "benchmark_id": "benchmark:501c9ae1b9b43a4b5611"}
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+{"action_config": [{"action_text": "Picks up the tissue box.", "end_frame": 204, "seg_id": 0, "skill": "Pick", "start_frame": 0}], "benchmark_id": "benchmark:52399e992d040e05e1a7"}
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+{"action_config": [{"action_text": "Picks up the onion.", "end_frame": 217, "seg_id": 0, "skill": "Pick", "start_frame": 0}], "benchmark_id": "benchmark:5357162517c9db79dd46"}
+{"action_config": [{"action_text": "Picks up the alphabet soup.", "end_frame": 63, "seg_id": 0, "skill": "Pick", "start_frame": 0}, {"action_text": "Places the alphabet soup in the basket.", "end_frame": 126, "seg_id": 1, "skill": "Place", "start_frame": 64}, {"action_text": "Picks up the tomato sauce.", "end_frame": 192, "seg_id": 2, "skill": "Pick", "start_frame": 127}, {"action_text": "Places the tomato sauce in the basket.", "end_frame": 249, "seg_id": 3, "skill": "Place", "start_frame": 193}], "benchmark_id": "benchmark:53d9d6c7d7344a3e8ca4"}
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+{"action_config": [{"action_text": "Picks up the first cup.", "end_frame": 363, "seg_id": 0, "skill": "Pick", "start_frame": 0}, {"action_text": "Pours water from the first cup into the second cup.", "end_frame": 725, "seg_id": 1, "skill": "Pour", "start_frame": 364}, {"action_text": "Places the first cup on the cushion.", "end_frame": 1177, "seg_id": 2, "skill": "Place", "start_frame": 726}], "benchmark_id": "benchmark:5556fd724b980b552b6f"}
+{"action_config": [{"action_text": "Picks up the bowl.", "end_frame": 56, "seg_id": 0, "skill": "Pick", "start_frame": 0}, {"action_text": "Places the black bowl on the plate.", "end_frame": 96, "seg_id": 1, "skill": "Place", "start_frame": 57}], "benchmark_id": "benchmark:56451050354f154f7b96"}
+{"action_config": [{"action_text": "Picks up the metal bowl.", "end_frame": 247, "seg_id": 0, "skill": "Pick", "start_frame": 0}], "benchmark_id": "benchmark:5a501dfb106901103b66"}
+{"action_config": [{"action_text": "Picks up the toy plant.", "end_frame": 182, "seg_id": 0, "skill": "Pick", "start_frame": 0}], "benchmark_id": "benchmark:5be728bc9d71ff0ad2cd"}
+{"action_config": [{"action_text": "Picks up the mango from the pan.", "end_frame": 74, "seg_id": 0, "skill": "Pick", "start_frame": 0}, {"action_text": "Places the mango on the plate.", "end_frame": 218, "seg_id": 1, "skill": "Place", "start_frame": 75}], "benchmark_id": "benchmark:5c5bd2d9ad51f1ca983c"}
+{"action_config": [{"action_text": "Turns on the stove.", "end_frame": 128, "seg_id": 0, "skill": "Place", "start_frame": 0}, {"action_text": "Picks up the moka pot.", "end_frame": 225, "seg_id": 1, "skill": "Pick", "start_frame": 129}, {"action_text": "Places the moka pot on the stove.", "end_frame": 278, "seg_id": 2, "skill": "Place", "start_frame": 226}], "benchmark_id": "benchmark:5c77cadedc8e81b9fed0"}
+{"action_config": [{"action_text": "Picks up the pot lid.", "end_frame": 40, "seg_id": 0, "skill": "Pick", "start_frame": 0}, {"action_text": "Picks up the corn.", "end_frame": 48, "seg_id": 1, "skill": "Pick", "start_frame": 41}, {"action_text": "Places the corn into the pot.", "end_frame": 71, "seg_id": 2, "skill": "Place", "start_frame": 49}, {"action_text": "Places the pot lid on the pot.", "end_frame": 158, "seg_id": 3, "skill": "Place", "start_frame": 72}], "benchmark_id": "benchmark:5d650e59c20d251621c5"}
+{"action_config": [{"action_text": "Picks up the butter.", "end_frame": 73, "seg_id": 0, "skill": "Pick", "start_frame": 0}, {"action_text": "Places the butter in the basket.", "end_frame": 170, "seg_id": 1, "skill": "Place", "start_frame": 74}], "benchmark_id": "benchmark:5d97940f36ea2f953bd1"}
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"Hands over the third pen to the right arm.", "end_frame": 1241, "seg_id": 15, "skill": "Handover", "start_frame": 1178}, {"action_text": "Hands over the third pen to the left arm.", "end_frame": 1254, "seg_id": 16, "skill": "Handover", "start_frame": 1242}, {"action_text": "Pushes the third pen cap on the table.", "end_frame": 1414, "seg_id": 17, "skill": "Push", "start_frame": 1255}, {"action_text": "Picks up the third pen cap.", "end_frame": 1566, "seg_id": 18, "skill": "Pick", "start_frame": 1415}, {"action_text": "Places the third pen cap on the third pen with both arms.", "end_frame": 1691, "seg_id": 19, "skill": "Place", "start_frame": 1567}, {"action_text": "Presses the third pen cap on the third pen with both arms.", "end_frame": 1782, "seg_id": 20, "skill": "Press", "start_frame": 1692}, {"action_text": "Places the third capped pen on the table.", "end_frame": 1815, "seg_id": 21, "skill": "Place", "start_frame": 1783}, {"action_text": "Picks up the fourth pen.", "end_frame": 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