{"task_id": "task_3400", "episode_index": 0, "video_path": "task_3400/videos/chunk-000/{video_key}/episode_000000.mp4", "tasks": ["Restocking the packaged toilet paper."], "length": 1821, "action_config": [{"start_frame": 41, "end_frame": 306, "action_text": "pick up the black packaged sausage from the refrigerated display case", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 306, "end_frame": 499, "action_text": "pick up the red packaged sausage from the refrigerated display case", "skill": "Pick", "language_memory": "The robot has picked up the black packaged sausage from the refrigerated display case."}, {"start_frame": 499, "end_frame": 643, "action_text": "bend the waist downward while rotating it", "skill": "AdjustPosture", "language_memory": "The robot has picked up the black and red packaged sausages from the refrigerated display case."}, {"start_frame": 643, "end_frame": 748, "action_text": "place the black-packaged sausages into the shopping cart", "skill": "Place", "language_memory": "The robot picked up black and red packaged sausages from the refrigerated display case and bent its waist downward while rotating."}, {"start_frame": 748, "end_frame": 856, "action_text": "place the red packaged sausages into the shopping cart", "skill": "Place", "language_memory": "The robot picked up black and red packaged sausages from the refrigerated display case, adjusted its posture by bending downward while rotating, and placed the black-packaged sausages into the shopping cart."}, {"start_frame": 856, "end_frame": 997, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot picked up black and red packaged sausages from the refrigerated display case, adjusted its posture, and placed both items into the shopping cart."}, {"start_frame": 997, "end_frame": 1189, "action_text": "pick up the white packaged sausage from the refrigerated display case", "skill": "Pick", "language_memory": "The robot picked up black and red packaged sausages from the refrigerated display case, placed them into the shopping cart, and adjusted its posture."}, {"start_frame": 1189, "end_frame": 1323, "action_text": "pick up the white packaged meat product from the refrigerated display case", "skill": "Pick", "language_memory": "The robot picked up black, red, and white packaged sausages from the refrigerated display case, adjusted its posture, and placed the black and red sausages into the shopping cart."}, {"start_frame": 1323, "end_frame": 1462, "action_text": "bend the body downward while rotating the waist", "skill": "AdjustPosture", "language_memory": "The robot picked up black, red, and white packaged sausages and meat products from the refrigerated display case and placed them into the shopping cart."}, {"start_frame": 1462, "end_frame": 1553, "action_text": "place the white packaged meat product into the shopping cart", "skill": "Place", "language_memory": "The robot successfully retrieved black, red, and white packaged sausages and meat products from the refrigerated display case and placed them into the shopping cart."}, {"start_frame": 1553, "end_frame": 1638, "action_text": "place the red-packaged sausages into the shopping cart", "skill": "Place", "language_memory": "The robot successfully retrieved black, red, and white packaged meat products from the refrigerated display case and placed them into the shopping cart."}, {"start_frame": 1638, "end_frame": 1760, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot successfully retrieved black, red, and white packaged meat products from the refrigerated display case and placed them into the shopping cart."}, {"start_frame": 1760, "end_frame": 1820, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot successfully retrieved black, red, and white packaged meat products from the refrigerated display case and placed them into the shopping cart."}], "detailed_task_instruction": ["Restock the refrigerated display case by selecting and placing various packaged meat products into the shopping cart. Begin by picking up the black and red packaged sausages, then bend your waist downward while rotating to place them into the cart. Adjust your posture, then retrieve the white packaged sausage and the white packaged meat product from the display. After bending your body downward and rotating your waist again, place the white packaged meat product into the cart, followed by the red-packaged sausages. Finally, adjust your robot posture to complete the restocking sequence."]}
{"task_id": "task_3400", "episode_index": 1, "video_path": "task_3400/videos/chunk-000/{video_key}/episode_000001.mp4", "tasks": ["Restocking the packaged toilet paper."], "length": 1960, "action_config": [{"start_frame": 0, "end_frame": 212, "action_text": "pick up the black packaged sausage from the refrigerated display case", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 212, "end_frame": 388, "action_text": "pick up the white packaged sausage from the refrigerated display case", "skill": "Pick", "language_memory": "The robot has picked up the black packaged sausage from the refrigerated display case."}, {"start_frame": 388, "end_frame": 527, "action_text": "bend the body downward while rotating the waist", "skill": "AdjustPosture", "language_memory": "The robot has picked up black and white packaged sausages from the refrigerated display case."}, {"start_frame": 527, "end_frame": 620, "action_text": "place the black-packaged sausages into the shopping cart", "skill": "Place", "language_memory": "The robot picked up black and white packaged sausages from the refrigerated display case and bent its body downward while rotating its waist."}, {"start_frame": 620, "end_frame": 752, "action_text": "place the white packaged sausages into the shopping cart", "skill": "Place", "language_memory": "The robot picked up black and white packaged sausages from the refrigerated display case, adjusted its posture by bending downward while rotating the waist, and placed the black-packaged sausages into the shopping cart."}, {"start_frame": 752, "end_frame": 878, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot picked up black and white packaged sausages from the refrigerated display case, adjusted its posture by bending downward while rotating the waist, and placed both types of sausages into the shopping cart."}, {"start_frame": 878, "end_frame": 1065, "action_text": "pick up the red packaged sausage from the refrigerated display case", "skill": "Pick", "language_memory": "The robot picked up black and white packaged sausages from the refrigerated display case, placed them into the shopping cart, and adjusted its posture."}, {"start_frame": 1065, "end_frame": 1491, "action_text": "pick up the red packaged sausage from the refrigerated display case", "skill": "Pick", "language_memory": "The robot has picked up black, white, and red packaged sausages from the refrigerated display case and placed the black and white sausages into the shopping cart."}, {"start_frame": 1491, "end_frame": 1597, "action_text": "bend the body downward while rotating the waist", "skill": "AdjustPosture", "language_memory": "The robot picked up black, white, and red packaged sausages from the refrigerated display case and placed them into the shopping cart."}, {"start_frame": 1597, "end_frame": 1686, "action_text": "place the red packaged sausages into the shopping cart", "skill": "Place", "language_memory": "The robot has successfully retrieved multiple packaged sausages of varying colors from the refrigerated display case and placed them into the shopping cart."}, {"start_frame": 1686, "end_frame": 1785, "action_text": "place the red packaged sausages into the shopping cart", "skill": "Place", "language_memory": "The robot successfully picked up black, white, and red packaged sausages from the refrigerated display case and placed them into the shopping cart."}, {"start_frame": 1785, "end_frame": 1883, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot has successfully picked up black, white, and red packaged sausages from the refrigerated display case and placed them into the shopping cart."}, {"start_frame": 1883, "end_frame": 1959, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot has successfully picked up black, white, and red packaged sausages from the refrigerated display case and placed them into the shopping cart."}], "detailed_task_instruction": ["Restock the refrigerated display case by picking up black, white, and red packaged sausages. While handling these items, bend your body downward while rotating your waist to reach the products, then place each type of sausage into the shopping cart. Adjust your robot posture as needed between picking and placing actions to maintain stability and reach. Ensure all three colors of packaged sausages are successfully transferred from the display case to the cart."]}
{"task_id": "task_3400", "episode_index": 2, "video_path": "task_3400/videos/chunk-000/{video_key}/episode_000002.mp4", "tasks": ["Restocking the packaged toilet paper."], "length": 2460, "action_config": [{"start_frame": 62, "end_frame": 209, "action_text": "pick up the red packaged sausage from the refrigerated display case", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 209, "end_frame": 520, "action_text": "pick up the red packaged meat product from the refrigerated display case", "skill": "Pick", "language_memory": "The robot has picked up the red packaged sausage from the refrigerated display case."}, {"start_frame": 520, "end_frame": 660, "action_text": "as the height decreases, the waist bends downward", "skill": "AdjustPosture", "language_memory": "The robot has picked up the red packaged sausage and the red packaged meat product from the refrigerated display case."}, {"start_frame": 660, "end_frame": 804, "action_text": "pick up the red packaged meat product from the refrigerated display case", "skill": "Pick", "language_memory": "The robot has picked up two red packaged meat products from the refrigerated display case and adjusted its waist posture downward as height decreased."}, {"start_frame": 804, "end_frame": 878, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot has picked up multiple red packaged meat products from the refrigerated display case and adjusted its waist posture as height decreased."}, {"start_frame": 878, "end_frame": 983, "action_text": "bend your body downward while rotating your waist", "skill": "AdjustPosture", "language_memory": "The robot has picked up multiple red packaged meat products from the refrigerated display case and adjusted its posture."}, {"start_frame": 983, "end_frame": 1057, "action_text": "place the red packaged sausages into the shopping cart", "skill": "Place", "language_memory": "The robot has retrieved multiple red packaged meat products from the refrigerated display case while adjusting its posture and bending downward."}, {"start_frame": 1057, "end_frame": 1141, "action_text": "place the red packaged meat product into the shopping cart", "skill": "Place", "language_memory": "The robot picked up multiple red packaged meat products from the refrigerated display case, adjusted its posture, and placed them into the shopping cart."}, {"start_frame": 1141, "end_frame": 1252, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot picked up multiple red packaged meat products from the refrigerated display case, adjusted its posture, and placed them into the shopping cart."}, {"start_frame": 1252, "end_frame": 1853, "action_text": "pick up the red packaged meat product from the refrigerated display case", "skill": "Pick", "language_memory": "The robot picked up multiple red packaged meat products from the refrigerated display case, adjusted its posture, and placed them into the shopping cart."}, {"start_frame": 1853, "end_frame": 1926, "action_text": "rotate the waist while lowering the body", "skill": "Rotate", "language_memory": "The robot has picked up multiple red packaged meat products and sausages from the refrigerated display case, adjusted its posture during the process, and placed the items into the shopping cart."}, {"start_frame": 1926, "end_frame": 2085, "action_text": "pick up the red packaged meat product from the refrigerated display case", "skill": "Pick", "language_memory": "The robot retrieved multiple red packaged meat products and sausages from the refrigerated display case, adjusted its posture and body orientation during the process, and placed all items into the shopping cart."}, {"start_frame": 2085, "end_frame": 2190, "action_text": "bend your body downward while rotating your waist", "skill": "AdjustPosture", "language_memory": "The robot has successfully retrieved multiple red packaged meat products and sausages from the refrigerated display case and placed them into the shopping cart."}, {"start_frame": 2190, "end_frame": 2257, "action_text": "place the red packaged meat product into the shopping cart", "skill": "Place", "language_memory": "The robot has successfully retrieved multiple red packaged meat products and sausages from the refrigerated display case and placed them into the shopping cart."}, {"start_frame": 2257, "end_frame": 2331, "action_text": "place the red packaged meat product into the shopping cart", "skill": "Place", "language_memory": "The robot successfully retrieved multiple red packaged meat products and sausages from the refrigerated display case and placed them into the shopping cart."}, {"start_frame": 2331, "end_frame": 2422, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot successfully picked up multiple red packaged meat products and sausages from the refrigerated display case and placed them into the shopping cart."}, {"start_frame": 2422, "end_frame": 2459, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot successfully picked up multiple red packaged meat products and sausages from the refrigerated display case and placed them into the shopping cart."}], "detailed_task_instruction": ["Restock the refrigerated display case by picking up multiple red packaged meat products and sausages. As you reach for items at varying heights, bend your waist downward and rotate your torso to adjust your posture for optimal access. Once an item is secured, place it into the shopping cart. Repeat this process of bending, rotating, picking up the red packaged meats and sausages, and placing them into the cart until the display case is restocked. Ensure your body posture is adjusted appropriately throughout the task to handle the different heights and positions of the products."]}
{"task_id": "task_3400", "episode_index": 3, "video_path": "task_3400/videos/chunk-000/{video_key}/episode_000003.mp4", "tasks": ["Restocking the packaged toilet paper."], "length": 1984, "action_config": [{"start_frame": 21, "end_frame": 140, "action_text": "bend your body downward while rotating your waist", "skill": "AdjustPosture", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 140, "end_frame": 283, "action_text": "pick up the red packaged sausage from the shopping cart", "skill": "Pick", "language_memory": "The robot bent its body downward while rotating its waist."}, {"start_frame": 283, "end_frame": 418, "action_text": "pick up the red packaged sausage from the shopping cart", "skill": "Pick", "language_memory": "The robot bent downward while rotating its waist and picked up the red packaged sausage from the shopping cart."}, {"start_frame": 418, "end_frame": 609, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot bent downward while rotating its waist and picked up the red packaged sausage from the shopping cart."}, {"start_frame": 609, "end_frame": 786, "action_text": "place the red packaged sausages on the refrigerated shelf", "skill": "Place", "language_memory": "The robot bent downward while rotating its waist, picked up red packaged sausages from the shopping cart, and adjusted its posture."}, {"start_frame": 786, "end_frame": 917, "action_text": "hand over the red bagged sausage", "skill": "Handover", "language_memory": "The robot bent downward, rotated its waist, picked up red packaged sausages from the shopping cart, adjusted its posture, and placed the sausages on the refrigerated shelf."}, {"start_frame": 917, "end_frame": 1042, "action_text": "place the red packaged sausages on the corresponding position in the chilled display case", "skill": "Place", "language_memory": "The robot bent downward, picked up red packaged sausages from the shopping cart, adjusted its posture, placed the sausages on the refrigerated shelf, and handed over the red bagged sausage."}, {"start_frame": 1042, "end_frame": 1169, "action_text": "bend your body downward while rotating your waist", "skill": "AdjustPosture", "language_memory": "The robot picked up red packaged sausages from the shopping cart and placed them on the refrigerated shelf and chilled display case."}, {"start_frame": 1169, "end_frame": 1313, "action_text": "pick up the white bagged sausage from the shopping cart", "skill": "Pick", "language_memory": "The robot picked up red packaged sausages from the shopping cart and placed them on the refrigerated shelf and chilled display case."}, {"start_frame": 1313, "end_frame": 1455, "action_text": "pick up the black packaged sausage from the shopping cart", "skill": "Pick", "language_memory": "The robot has picked up red and white packaged sausages from the shopping cart, adjusted its posture, and placed the red packaged sausages on the refrigerated shelf and chilled display case."}, {"start_frame": 1455, "end_frame": 1563, "action_text": "pick up the waist", "skill": "Pick", "language_memory": "The robot has picked up red, white, and black packaged sausages from the shopping cart and placed them on the refrigerated shelf and chilled display case."}, {"start_frame": 1563, "end_frame": 1704, "action_text": "place the black packaged sausage on the refrigerated display cabinet", "skill": "Place", "language_memory": "The robot has picked up red, white, and black packaged sausages from the shopping cart and placed them on the refrigerated shelf and chilled display case."}, {"start_frame": 1704, "end_frame": 1942, "action_text": "place the white packaged sausages on the corresponding position in the chilled display case", "skill": "Place", "language_memory": "The robot has picked up red, white, and black packaged sausages from the shopping cart and placed them on the refrigerated shelf and chilled display case."}, {"start_frame": 1942, "end_frame": 1983, "action_text": "place the reset position", "skill": "Place", "language_memory": "The robot has successfully restocked red, white, and black packaged sausages by picking them from the shopping cart and placing them onto the refrigerated shelf and chilled display case."}], "detailed_task_instruction": ["Restock the refrigerated display case with various packaged sausages. Begin by bending your body downward while rotating your waist to pick up red packaged sausages from the shopping cart, then adjust your posture and place them on the corresponding positions in the chilled display case. Next, bend down again to pick up white bagged sausages and black packaged sausages from the shopping cart. Place the white bagged sausages and the black packaged sausages onto the refrigerated display cabinet at their designated locations. Finally, return to the reset position to complete the restocking process."]}
{"task_id": "task_3400", "episode_index": 4, "video_path": "task_3400/videos/chunk-000/{video_key}/episode_000004.mp4", "tasks": ["Restocking the packaged toilet paper."], "length": 1436, "action_config": [{"start_frame": 20, "end_frame": 147, "action_text": "bend the waist downward while rotating it", "skill": "AdjustPosture", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 147, "end_frame": 301, "action_text": "pick up the red packaged meat product from the shopping cart", "skill": "Pick", "language_memory": "The robot bent its waist downward while rotating it."}, {"start_frame": 301, "end_frame": 425, "action_text": "pick up the black bagged sausage from the shopping cart", "skill": "Pick", "language_memory": "The robot bent its waist downward while rotating and picked up the red packaged meat product from the shopping cart."}, {"start_frame": 425, "end_frame": 540, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot bent its waist downward while rotating, picked up the red packaged meat product, and picked up the black bagged sausage from the shopping cart."}, {"start_frame": 540, "end_frame": 723, "action_text": "place the black packaged sausages on the designated spot in the chilled display case", "skill": "Place", "language_memory": "The robot bent its waist downward while rotating, picked up the red packaged meat product and the black bagged sausage from the shopping cart, and adjusted its posture."}, {"start_frame": 723, "end_frame": 861, "action_text": "place the red packaged meat product on the corresponding position in the chilled display case", "skill": "Place", "language_memory": "The robot bent its waist downward while rotating, picked up the red packaged meat product and the black bagged sausage from the shopping cart, adjusted its posture, and placed the black packaged sausages on the designated spot in the chilled display case."}, {"start_frame": 861, "end_frame": 1003, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot bent its waist, picked up red packaged meat and black bagged sausage from the shopping cart, adjusted its posture, and placed both items on the designated spots in the chilled display case."}, {"start_frame": 1003, "end_frame": 1124, "action_text": "pick up the black packaged sausage from the first shelf", "skill": "Pick", "language_memory": "The robot bent its waist, picked up red packaged meat and black bagged sausage from the shopping cart, adjusted its posture, and placed both items on the designated spots in the chilled display case."}, {"start_frame": 1124, "end_frame": 1178, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot bent its waist, picked up red packaged meat and black bagged sausages from the shopping cart, adjusted its posture, placed the meat and sausages in the chilled display case, and picked up a black packaged sausage from the first shelf."}, {"start_frame": 1178, "end_frame": 1391, "action_text": "place the black bagged sausages in the chilled display case", "skill": "Place", "language_memory": "The robot bent its waist, picked up red packaged meat and black bagged sausages from the shopping cart, adjusted its posture, and placed both items into the chilled display case."}, {"start_frame": 1391, "end_frame": 1435, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot bent its waist, picked up red packaged meat and black bagged sausages from the shopping cart, and placed them in the chilled display case, then retrieved additional black packaged sausages from the first shelf to place in the display case."}], "detailed_task_instruction": ["Restock the chilled display case with packaged meat products by first bending downward and rotating to pick up the red packaged meat and black bagged sausage from the shopping cart, then adjusting posture to place them in their corresponding positions. Next, bend over to retrieve a black packaged sausage from the first shelf, adjust the robot posture, and place this item into the chilled display case as well. Ensure all meat products are securely positioned in the designated spots within the case to complete the restocking process."]}
{"task_id": "task_3400", "episode_index": 5, "video_path": "task_3400/videos/chunk-000/{video_key}/episode_000005.mp4", "tasks": ["Restocking the packaged toilet paper."], "length": 2269, "action_config": [{"start_frame": 0, "end_frame": 177, "action_text": "bend your body downward while rotating your waist", "skill": "AdjustPosture", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 177, "end_frame": 344, "action_text": "pick up the white bagged sausage from the shopping cart", "skill": "Pick", "language_memory": "The robot bent its body downward while rotating its waist."}, {"start_frame": 344, "end_frame": 508, "action_text": "pick up the red packaged meat product from the shopping cart", "skill": "Pick", "language_memory": "The robot bent downward while rotating its waist and picked up a white bagged sausage from the shopping cart."}, {"start_frame": 508, "end_frame": 625, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot bent downward while rotating its waist and picked up a white bagged sausage and a red packaged meat product from the shopping cart."}, {"start_frame": 625, "end_frame": 931, "action_text": "place the white packaged sausages in the refrigerated cabinet", "skill": "Place", "language_memory": "The robot bent downward while rotating its waist, picked up a white bagged sausage and a red packaged meat product from the shopping cart, and adjusted its posture."}, {"start_frame": 931, "end_frame": 1181, "action_text": "place the red packaged meat products in the chilled display case", "skill": "Place", "language_memory": "The robot bent downward, rotated its waist, picked up white bagged sausages and red packaged meat from the shopping cart, adjusted its posture, and placed the white packaged sausages in the refrigerated cabinet."}, {"start_frame": 1181, "end_frame": 1287, "action_text": "bend your body downward while rotating your waist", "skill": "AdjustPosture", "language_memory": "The robot bent downward, rotated its waist, adjusted its posture, and placed both the white bagged sausages and the red packaged meat products into their respective storage locations."}, {"start_frame": 1287, "end_frame": 1440, "action_text": "pick up the red bagged sausage from the shopping cart", "skill": "Pick", "language_memory": "The robot bent down, picked up white bagged sausages and red packaged meat products from the shopping cart, and placed them into the refrigerated cabinet and chilled display case respectively."}, {"start_frame": 1440, "end_frame": 1602, "action_text": "pick up the white packaged meat product from the shopping cart", "skill": "Pick", "language_memory": "The robot has picked up white and red packaged meat products from the shopping cart and placed them into the refrigerated cabinet and chilled display case respectively."}, {"start_frame": 1602, "end_frame": 1703, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot has picked up multiple white and red packaged meat products from the shopping cart and placed them into the refrigerated cabinet and chilled display case."}, {"start_frame": 1703, "end_frame": 1854, "action_text": "place the white packaged meat products in the chilled display case", "skill": "Place", "language_memory": "The robot has retrieved multiple white and red packaged meat products from the shopping cart and successfully placed them into the refrigerated cabinet and chilled display case."}, {"start_frame": 1854, "end_frame": 2241, "action_text": "place the red packaged sausages in the refrigerated cabinet", "skill": "Place", "language_memory": "The robot has picked up multiple white and red packaged meat products from the shopping cart and placed them into the refrigerated cabinet and chilled display case."}, {"start_frame": 2241, "end_frame": 2268, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot has successfully retrieved multiple white and red packaged meat products and sausages from the shopping cart and stored them in the appropriate refrigerated cabinet and chilled display case."}], "detailed_task_instruction": ["Restock the refrigerated cabinet with white bagged sausages and red bagged sausages, and place white packaged meat products in the chilled display case along with red packaged meat products. To accomplish this, bend your body downward while rotating your waist to pick up the white bagged sausage and the red packaged meat product from the shopping cart, then adjust your posture to place the sausage in the refrigerated cabinet and the meat in the chilled display case. Repeat this sequence by bending down to pick up the red bagged sausage and the white packaged meat product, adjusting your posture, and placing the sausage in the refrigerated cabinet and the meat in the chilled display case."]}
{"task_id": "task_3400", "episode_index": 6, "video_path": "task_3400/videos/chunk-000/{video_key}/episode_000006.mp4", "tasks": ["Restocking the packaged toilet paper."], "length": 1748, "action_config": [{"start_frame": 16, "end_frame": 102, "action_text": "bend the body downward while rotating the waist", "skill": "AdjustPosture", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 102, "end_frame": 252, "action_text": "pick up the red packaged sausage from the shopping cart", "skill": "Pick", "language_memory": "The robot bent its body downward while rotating its waist."}, {"start_frame": 252, "end_frame": 388, "action_text": "pick up the white bagged sausage from the shopping cart", "skill": "Pick", "language_memory": "The robot bent its body downward while rotating its waist and picked up the red packaged sausage from the shopping cart."}, {"start_frame": 388, "end_frame": 532, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot bent its body downward while rotating its waist and picked up the red and white packaged sausages from the shopping cart."}, {"start_frame": 532, "end_frame": 766, "action_text": "place the white packaged sausages in the refrigerated cabinet", "skill": "Place", "language_memory": "The robot bent its body downward while rotating its waist, picked up the red and white packaged sausages from the shopping cart, and adjusted its posture."}, {"start_frame": 766, "end_frame": 1020, "action_text": "hand over the red packaged sausage", "skill": "Handover", "language_memory": "The robot bent downward, picked up red and white packaged sausages from the shopping cart, adjusted its posture, and placed the white packaged sausages in the refrigerated cabinet."}, {"start_frame": 1020, "end_frame": 1747, "action_text": "place the red packaged sausages in the refrigerated cabinet", "skill": "Place", "language_memory": "The robot bent downward, picked up red and white packaged sausages from the shopping cart, adjusted its posture, placed the white sausages in the refrigerated cabinet, and handed over the red sausage."}], "detailed_task_instruction": ["Restock the refrigerated cabinet with packaged sausages by first bending downward while rotating the waist to pick up the red packaged sausage from the shopping cart, then adjusting the robot posture to pick up the white bagged sausage. Hand over the red packaged sausage and subsequently place both the red and white packaged sausages into the refrigerated cabinet."]}
{"task_id": "task_3400", "episode_index": 7, "video_path": "task_3400/videos/chunk-000/{video_key}/episode_000007.mp4", "tasks": ["Restocking the packaged toilet paper."], "length": 1947, "action_config": [{"start_frame": 47, "end_frame": 151, "action_text": "bend your body downward while rotating your waist", "skill": "AdjustPosture", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 151, "end_frame": 317, "action_text": "pick up the white bagged sausage from the shopping cart", "skill": "Pick", "language_memory": "The robot bent its body downward while rotating its waist."}, {"start_frame": 317, "end_frame": 459, "action_text": "pick up the yellow packaged sausage from the shopping cart", "skill": "Pick", "language_memory": "The robot bent downward while rotating its waist and picked up a white bagged sausage from the shopping cart."}, {"start_frame": 459, "end_frame": 567, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot bent downward while rotating its waist and picked up white and yellow bagged sausages from the shopping cart."}, {"start_frame": 567, "end_frame": 711, "action_text": "place the yellow bagged sausages in the designated yellow bagged sausage section of the refrigerated display case", "skill": "Place", "language_memory": "The robot bent downward while rotating its waist, picked up a white bagged sausage and a yellow packaged sausage from the shopping cart, and adjusted its posture."}, {"start_frame": 711, "end_frame": 854, "action_text": "pick up the white bagged sausage from the shopping cart", "skill": "Pick", "language_memory": "The robot bent downward, rotated its waist, picked up white and yellow bagged sausages from the shopping cart, adjusted its posture, and placed the yellow bagged sausages in the designated section of the refrigerated display case."}, {"start_frame": 854, "end_frame": 972, "action_text": "bend the waist downward while rotating it", "skill": "AdjustPosture", "language_memory": "The robot picked up white and yellow bagged sausages from the shopping cart, adjusted its posture, and placed the yellow bagged sausages in the designated section of the refrigerated display case."}, {"start_frame": 972, "end_frame": 1175, "action_text": "pick up the white packaged meat product from the shopping cart", "skill": "Pick", "language_memory": "The robot picked up white and yellow bagged sausages from the shopping cart, adjusted its posture, and placed the yellow bagged sausages in the designated section of the refrigerated display case."}, {"start_frame": 1175, "end_frame": 1317, "action_text": "pick up the black packaged sausage from the shopping cart", "skill": "Pick", "language_memory": "The robot has picked up multiple white and yellow bagged sausages and a white packaged meat product from the shopping cart, adjusted its posture, and placed the yellow bagged sausages into the designated section of the refrigerated display case."}, {"start_frame": 1317, "end_frame": 1434, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot has picked up multiple items including white and yellow bagged sausages, a white packaged meat product, and a black packaged sausage from the shopping cart, adjusted its posture, and placed the yellow bagged sausages into the designated section of the refrigerated display case."}, {"start_frame": 1434, "end_frame": 1609, "action_text": "place the black packaged sausages in the designated location of the refrigerated cabinet", "skill": "Place", "language_memory": "The robot has adjusted its posture, bent downward while rotating its waist, and placed yellow bagged sausages into the designated section of the refrigerated display case."}, {"start_frame": 1609, "end_frame": 1759, "action_text": "hand over the white bagged meat product", "skill": "Handover", "language_memory": "The robot has picked up multiple items including white and yellow bagged sausages, white packaged meat, and black packaged sausages from the shopping cart, adjusted its posture, and placed the yellow and black packaged sausages into their designated sections in the refrigerated display case."}, {"start_frame": 1759, "end_frame": 1898, "action_text": "place the white packaged meat products in the chilled display case", "skill": "Place", "language_memory": "The robot has restocked the refrigerated display case with yellow bagged sausages, white bagged sausages, black packaged sausages, and a white bagged meat product, while also handing over the white bagged meat product."}, {"start_frame": 1898, "end_frame": 1946, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot has restocked the refrigerated display case with white bagged sausages, yellow bagged sausages, black packaged sausages, and white packaged meat products by picking them from the shopping cart and placing them in their designated sections."}], "detailed_task_instruction": ["Restock the refrigerated display case by first bending your waist downward while rotating it to pick up the white bagged sausage from the shopping cart, then adjusting your posture. Next, bend your waist again to pick up the yellow packaged sausage, adjust your posture, and place the yellow bagged sausages into the designated yellow section of the refrigerated display case. Adjust your posture once more, bend your waist to pick up the white packaged meat product, and then pick up the black packaged sausage. After adjusting your posture, place the black packaged sausages in their designated location within the refrigerated cabinet. Finally, adjust your posture to hand over the white bagged meat product and place the remaining white packaged meat products into the chilled display case."]}
{"task_id": "task_3400", "episode_index": 8, "video_path": "task_3400/videos/chunk-000/{video_key}/episode_000008.mp4", "tasks": ["Restocking the packaged toilet paper."], "length": 1826, "action_config": [{"start_frame": 0, "end_frame": 122, "action_text": "bend your body downward while rotating your waist", "skill": "AdjustPosture", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 122, "end_frame": 260, "action_text": "pick up the red bagged sausage from the shopping cart", "skill": "Pick", "language_memory": "The robot bent its body downward while rotating its waist."}, {"start_frame": 260, "end_frame": 401, "action_text": "pick up the yellow packaged sausage from the shopping cart", "skill": "Pick", "language_memory": "The robot bent downward while rotating its waist and picked up the red bagged sausage from the shopping cart."}, {"start_frame": 401, "end_frame": 522, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot bent downward while rotating its waist and picked up red and yellow packaged sausages from the shopping cart."}, {"start_frame": 522, "end_frame": 677, "action_text": "place the yellow packaged sausage on the refrigerated display cabinet", "skill": "Place", "language_memory": "The robot bent downward while rotating its waist, picked up the red and yellow packaged sausages from the shopping cart, and adjusted its posture."}, {"start_frame": 677, "end_frame": 807, "action_text": "place the red packaged sausages in the chilled cabinet", "skill": "Place", "language_memory": "The robot bent downward, rotated its waist, picked up red and yellow packaged sausages from the shopping cart, adjusted its posture, and placed the yellow packaged sausage on the refrigerated display cabinet."}, {"start_frame": 807, "end_frame": 907, "action_text": "bend the body downward while rotating the waist", "skill": "AdjustPosture", "language_memory": "The robot picked up red and yellow packaged sausages from the shopping cart and placed them into the refrigerated display cabinet."}, {"start_frame": 907, "end_frame": 1061, "action_text": "pick up the green packaged meat product from the shopping cart", "skill": "Pick", "language_memory": "The robot picked up red and yellow packaged sausages from the shopping cart and placed them into the refrigerated display cabinet."}, {"start_frame": 1061, "end_frame": 1204, "action_text": "pick up the green packaged meat product from the shopping cart", "skill": "Pick", "language_memory": "The robot has picked up red and yellow packaged sausages and a green packaged meat product from the shopping cart, placing the sausages into the refrigerated display cabinet."}, {"start_frame": 1204, "end_frame": 1311, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot has picked up red and yellow packaged sausages and green packaged meat products from the shopping cart and placed them into the refrigerated display cabinet and chilled cabinet."}, {"start_frame": 1311, "end_frame": 1595, "action_text": "place the yellow packaged meat products in the chilled display case", "skill": "Place", "language_memory": "The robot has picked up red and yellow packaged sausages and green packaged meat products from the shopping cart and placed them into the refrigerated display cabinet and chilled cabinet."}, {"start_frame": 1595, "end_frame": 1781, "action_text": "place the red packaged meat products in the fresh-keeping cabinet", "skill": "Place", "language_memory": "The robot has picked up red and yellow packaged sausages and green packaged meat products from the shopping cart and placed them into the refrigerated display cabinet."}, {"start_frame": 1781, "end_frame": 1825, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot has picked up red and yellow packaged sausages and green packaged meat products from the shopping cart and placed them into the refrigerated display cabinet, chilled cabinet, and fresh-keeping cabinet."}], "detailed_task_instruction": ["Restock the refrigerated and fresh-keeping display cabinets by first bending down and rotating your waist to pick up the red bagged sausage and the yellow packaged sausage from the shopping cart. Adjust your posture, then place the yellow packaged sausage on the refrigerated display cabinet and the red packaged sausage in the chilled cabinet. Next, bend down and rotate your waist again to pick up the green packaged meat products from the shopping cart. Adjust your posture, place the yellow packaged meat products in the chilled display case, and finally place the red packaged meat products in the fresh-keeping cabinet."]}
{"task_id": "task_3400", "episode_index": 9, "video_path": "task_3400/videos/chunk-000/{video_key}/episode_000009.mp4", "tasks": ["Restocking the packaged toilet paper."], "length": 1590, "action_config": [{"start_frame": 0, "end_frame": 167, "action_text": "pick up the black packaged sausage from the refrigerated display case", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 167, "end_frame": 380, "action_text": "pick up the red packaged sausage from the refrigerated display case", "skill": "Pick", "language_memory": "The robot has picked up the black packaged sausage from the refrigerated display case."}, {"start_frame": 380, "end_frame": 488, "action_text": "bend your body downward while rotating your waist", "skill": "AdjustPosture", "language_memory": "The robot has picked up the black and red packaged sausages from the refrigerated display case."}, {"start_frame": 488, "end_frame": 580, "action_text": "place the red bag of sausages into the shopping cart", "skill": "Place", "language_memory": "The robot picked up black and red packaged sausages from the refrigerated display case and bent its body downward while rotating its waist."}, {"start_frame": 580, "end_frame": 675, "action_text": "place the green packaged ham into the shopping cart", "skill": "Place", "language_memory": "The robot picked up black and red packaged sausages from the refrigerated display case, adjusted its posture by bending downward while rotating its waist, and placed the red bag of sausages into the shopping cart."}, {"start_frame": 675, "end_frame": 786, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot picked up black and red packaged sausages from the refrigerated display case, adjusted its posture, and placed the red sausages and green packaged ham into the shopping cart."}, {"start_frame": 786, "end_frame": 923, "action_text": "pick up the green packaged meat product from the fourth shelf", "skill": "Pick", "language_memory": "The robot picked up black and red packaged sausages from the refrigerated display case, placed the red sausages and green packaged ham into the shopping cart, and adjusted its posture."}, {"start_frame": 923, "end_frame": 1201, "action_text": "pick up the red packaged meat product from the third shelf", "skill": "Pick", "language_memory": "The robot retrieved black and red packaged sausages and a green packaged ham from the refrigerated display case, placed the sausages and ham into the shopping cart, adjusted its posture, and picked up a green packaged meat product from the fourth shelf."}, {"start_frame": 1201, "end_frame": 1318, "action_text": "bend your body downward while rotating your waist", "skill": "AdjustPosture", "language_memory": "The robot retrieved black and red packaged sausages, a green packaged ham, a green packaged meat product from the fourth shelf, and a red packaged meat product from the third shelf, placing the red sausages and green ham into the shopping cart while adjusting its posture."}, {"start_frame": 1318, "end_frame": 1396, "action_text": "place the green bagged meat product into the shopping cart", "skill": "Place", "language_memory": "The robot has retrieved multiple packaged meat products from refrigerated display cases and shelves, adjusted its posture, and placed several items into the shopping cart."}, {"start_frame": 1396, "end_frame": 1479, "action_text": "place the green packaged meat product into the shopping cart", "skill": "Place", "language_memory": "The robot has successfully retrieved multiple packaged meat products, including sausages and ham, from refrigerated display cases and shelves, and placed them into the shopping cart."}, {"start_frame": 1479, "end_frame": 1569, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot has successfully retrieved multiple packaged meat products from refrigerated display cases and shelves and placed them into the shopping cart."}, {"start_frame": 1569, "end_frame": 1589, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot has successfully retrieved multiple packaged meat products, including sausages and ham, from refrigerated display cases and shelves, and placed them into the shopping cart."}], "detailed_task_instruction": ["Restock the refrigerated display case and shelves by first picking up the black and red packaged sausages from the case, bending down with a waist rotation, and placing the red sausage bag into the shopping cart. Next, place the green packaged ham into the cart, adjust your posture, then retrieve the green packaged meat from the fourth shelf and the red packaged meat from the third shelf. After bending down again with a waist rotation, place both the green and red meat products into the shopping cart, and finally adjust your robot posture to complete the restocking process."]}
{"task_id": "task_3400", "episode_index": 10, "video_path": "task_3400/videos/chunk-000/{video_key}/episode_000010.mp4", "tasks": ["Restocking the packaged toilet paper."], "length": 1458, "action_config": [{"start_frame": 0, "end_frame": 216, "action_text": "pick up the red packaged sausage from the refrigerated display case", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 216, "end_frame": 380, "action_text": "pick up the red packaged meat product from the refrigerated display case", "skill": "Pick", "language_memory": "The robot has picked up the red packaged sausage from the refrigerated display case."}, {"start_frame": 380, "end_frame": 482, "action_text": "bend the body downward while rotating the waist", "skill": "AdjustPosture", "language_memory": "The robot has picked up the red packaged sausage and the red packaged meat product from the refrigerated display case."}, {"start_frame": 482, "end_frame": 560, "action_text": "place the red packaged sausages into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up two red packaged meat products from the refrigerated display case and adjusted its posture by bending downward while rotating the waist."}, {"start_frame": 560, "end_frame": 636, "action_text": "place the red packaged meat product into the shopping cart", "skill": "Place", "language_memory": "The robot picked up red packaged sausages and meat products from the refrigerated display case and placed them into the shopping cart."}, {"start_frame": 636, "end_frame": 750, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot has picked up red packaged sausages and a red packaged meat product from the refrigerated display case and placed them into the shopping cart."}, {"start_frame": 750, "end_frame": 910, "action_text": "pick up the green packaged meat product from the refrigerated display case", "skill": "Pick", "language_memory": "The robot has picked up red packaged sausages and a red packaged meat product from the refrigerated display case and placed them into the shopping cart."}, {"start_frame": 910, "end_frame": 1058, "action_text": "pick up the green packaged sausage from the refrigerated display case", "skill": "Pick", "language_memory": "The robot has picked up red packaged sausages, a red packaged meat product, and a green packaged meat product from the refrigerated display case and placed the red items into the shopping cart."}, {"start_frame": 1058, "end_frame": 1160, "action_text": "bend your body downward while rotating your waist", "skill": "AdjustPosture", "language_memory": "The robot has retrieved red and green packaged meat products and sausages from the refrigerated display case and placed them into the shopping cart."}, {"start_frame": 1160, "end_frame": 1243, "action_text": "place the green packaged meat product into the shopping cart", "skill": "Place", "language_memory": "The robot has successfully retrieved red and green packaged meat products and sausages from the refrigerated display case and placed them into the shopping cart."}, {"start_frame": 1243, "end_frame": 1330, "action_text": "place the green packaged sausages into the shopping cart", "skill": "Place", "language_memory": "The robot has successfully retrieved red and green packaged meat products and sausages from the refrigerated display case and placed them into the shopping cart."}, {"start_frame": 1330, "end_frame": 1457, "action_text": "pick up the waist", "skill": "Pick", "language_memory": "The robot has successfully retrieved red and green packaged meat products and sausages from the refrigerated display case and placed all items into the shopping cart."}], "detailed_task_instruction": ["Restock the packaged toilet paper by first bending your body downward while rotating your waist to reach the refrigerated display case. Pick up the red packaged sausage and the red packaged meat product, then place both items into the shopping cart. Adjust your robot posture, bend your body downward while rotating your waist again, and pick up the green packaged meat product and the green packaged sausage from the display case. Finally, place the green packaged meat product and the green packaged sausages into the shopping cart to complete the restocking process."]}
{"task_id": "task_3400", "episode_index": 11, "video_path": "task_3400/videos/chunk-000/{video_key}/episode_000011.mp4", "tasks": ["Restocking the packaged toilet paper."], "length": 1762, "action_config": [{"start_frame": 0, "end_frame": 170, "action_text": "pick up the yellow packaged sausage from the refrigerated display case", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 170, "end_frame": 372, "action_text": "pick up the red packaged sausage from the refrigerated display case", "skill": "Pick", "language_memory": "The robot has picked up the yellow packaged sausage from the refrigerated display case."}, {"start_frame": 372, "end_frame": 490, "action_text": "bend your body downward while rotating your waist", "skill": "AdjustPosture", "language_memory": "The robot has picked up the yellow and red packaged sausages from the refrigerated display case."}, {"start_frame": 490, "end_frame": 571, "action_text": "place the yellow packaged sausages into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up yellow and red packaged sausages from the refrigerated display case and bent its body downward while rotating its waist."}, {"start_frame": 571, "end_frame": 682, "action_text": "place the red packaged sausages into the shopping cart", "skill": "Place", "language_memory": "The robot picked up yellow and red packaged sausages from the refrigerated display case, adjusted its posture by bending downward while rotating its waist, and placed the yellow packaged sausages into the shopping cart."}, {"start_frame": 682, "end_frame": 794, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot picked up yellow and red packaged sausages from the refrigerated display case, adjusted its posture, and placed both items into the shopping cart."}, {"start_frame": 794, "end_frame": 1023, "action_text": "pick up the green packaged meat product from the refrigerated display case", "skill": "Pick", "language_memory": "The robot picked up yellow and red packaged sausages from the refrigerated display case, placed them into the shopping cart, and adjusted its posture."}, {"start_frame": 1023, "end_frame": 1135, "action_text": "pick up the white packaged sausage", "skill": "Pick", "language_memory": "The robot has retrieved yellow and red packaged sausages and a green packaged meat product from the refrigerated display case and placed the sausages into the shopping cart."}, {"start_frame": 1135, "end_frame": 1328, "action_text": "pick up the yellow packaged sausage from the refrigerated display case", "skill": "Pick", "language_memory": "The robot picked up yellow, red, green, and white packaged meat products from the refrigerated display case and placed the yellow and red items into the shopping cart."}, {"start_frame": 1328, "end_frame": 1463, "action_text": "bend your body downward while rotating your waist", "skill": "AdjustPosture", "language_memory": "The robot has picked up multiple packaged sausages and meat products from the refrigerated display case and placed them into the shopping cart."}, {"start_frame": 1463, "end_frame": 1541, "action_text": "place the yellow packaged sausages into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up multiple packaged sausages and meat products from the refrigerated display case and placed them into the shopping cart."}, {"start_frame": 1541, "end_frame": 1621, "action_text": "place the white packaged sausages into the shopping cart", "skill": "Place", "language_memory": "The robot has successfully retrieved multiple packaged sausages and meat products from the refrigerated display case and placed them into the shopping cart."}, {"start_frame": 1621, "end_frame": 1709, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot successfully retrieved multiple packaged sausages and meat products from the refrigerated display case and placed them into the shopping cart."}, {"start_frame": 1709, "end_frame": 1761, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot successfully retrieved multiple packaged sausages and meat products from the refrigerated display case and placed them into the shopping cart."}], "detailed_task_instruction": ["Restock the refrigerated display case by picking up the yellow, red, and green packaged meat products, along with the white packaged sausage, from the case. While performing these retrievals, bend your body downward while rotating your waist to reach the items and adjust your robot posture as needed. Once all items are collected, place the yellow, red, and green packaged sausages and the white packaged sausage into the shopping cart."]}
{"task_id": "task_3400", "episode_index": 12, "video_path": "task_3400/videos/chunk-000/{video_key}/episode_000012.mp4", "tasks": ["Restocking the packaged toilet paper."], "length": 1602, "action_config": [{"start_frame": 0, "end_frame": 194, "action_text": "pick up the black packaged sausage from the refrigerated display case", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 194, "end_frame": 341, "action_text": "pick up the red packaged meat product", "skill": "Pick", "language_memory": "The robot has picked up the black packaged sausage from the refrigerated display case."}, {"start_frame": 341, "end_frame": 465, "action_text": "bend your body downward while rotating your waist", "skill": "AdjustPosture", "language_memory": "The robot has picked up a black packaged sausage and a red packaged meat product from the refrigerated display case."}, {"start_frame": 465, "end_frame": 552, "action_text": "place the black-packaged sausages into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up a black packaged sausage and a red packaged meat product from the refrigerated display case and adjusted its posture by bending downward while rotating its waist."}, {"start_frame": 552, "end_frame": 659, "action_text": "place the red packaged meat product into the shopping cart", "skill": "Place", "language_memory": "The robot picked up black packaged sausages and a red packaged meat product from the refrigerated display case, adjusted its posture by bending downward while rotating its waist, and placed the black-packaged sausages into the shopping cart."}, {"start_frame": 659, "end_frame": 812, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot picked up black packaged sausages and a red packaged meat product from the refrigerated display case and placed all items into the shopping cart."}, {"start_frame": 812, "end_frame": 1011, "action_text": "pick up the red packaged sausage from the refrigerated display case", "skill": "Pick", "language_memory": "The robot picked up black packaged sausages and a red packaged meat product from the refrigerated display case, placed them into the shopping cart, and adjusted its posture."}, {"start_frame": 1011, "end_frame": 1148, "action_text": "pick up the white packaged sausage from the refrigerated display case", "skill": "Pick", "language_memory": "The robot has picked up black and red packaged meat products from the refrigerated display case and placed them into the shopping cart, while adjusting its posture during the process."}, {"start_frame": 1148, "end_frame": 1269, "action_text": "bend your body downward while rotating your waist", "skill": "AdjustPosture", "language_memory": "The robot has picked up black, red, and white packaged meat products from the refrigerated display case and placed them into the shopping cart."}, {"start_frame": 1269, "end_frame": 1343, "action_text": "place the red packaged sausages into the shopping cart", "skill": "Place", "language_memory": "The robot has successfully retrieved multiple packaged meat products, including black, red, and white sausages, from the refrigerated display case and placed them into the shopping cart."}, {"start_frame": 1343, "end_frame": 1435, "action_text": "place the white packaged sausages into the shopping cart", "skill": "Place", "language_memory": "The robot has successfully retrieved multiple packaged meat products, including black, red, and white sausages, from the refrigerated display case and placed them into the shopping cart."}, {"start_frame": 1435, "end_frame": 1549, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot successfully picked up black, red, and white packaged meat products from the refrigerated display case and placed them into the shopping cart."}, {"start_frame": 1549, "end_frame": 1601, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot has successfully retrieved multiple packaged meat products, including black, red, and white sausages, from the refrigerated display case and placed them into the shopping cart."}], "detailed_task_instruction": ["Restock the refrigerated display case by selecting and transferring specific meat products to the shopping cart. Begin by picking up the black packaged sausage and the red packaged meat product, then bend your body downward while rotating your waist to place both items into the cart. Adjust your posture, then proceed to pick up the red packaged sausage and the white packaged sausage from the display case. Again, bend your body downward while rotating your waist to place these two items into the shopping cart, and finally adjust your robot posture to complete the restocking sequence."]}
{"task_id": "task_3400", "episode_index": 13, "video_path": "task_3400/videos/chunk-000/{video_key}/episode_000013.mp4", "tasks": ["Restocking the packaged toilet paper."], "length": 2223, "action_config": [{"start_frame": 0, "end_frame": 232, "action_text": "pick up the black packaged sausage from the refrigerated display case", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 232, "end_frame": 599, "action_text": "pick up the green packaged sausage from the refrigerated display case", "skill": "Pick", "language_memory": "The robot has picked up the black packaged sausage from the refrigerated display case."}, {"start_frame": 599, "end_frame": 698, "action_text": "bend the body downward while rotating the waist", "skill": "AdjustPosture", "language_memory": "The robot has picked up the black and green packaged sausages from the refrigerated display case."}, {"start_frame": 698, "end_frame": 789, "action_text": "place the black-packaged sausage into the shopping cart", "skill": "Place", "language_memory": "The robot picked up black and green packaged sausages from the refrigerated display case and bent its body downward while rotating its waist."}, {"start_frame": 789, "end_frame": 858, "action_text": "place the white bagged sausages into the shopping cart", "skill": "Place", "language_memory": "The robot picked up black and green packaged sausages from the refrigerated display case, adjusted its posture by bending downward while rotating the waist, and placed the black-packaged sausage into the shopping cart."}, {"start_frame": 858, "end_frame": 985, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot picked up black and green packaged sausages from the refrigerated display case, adjusted its posture by bending downward while rotating the waist, and placed the black-packaged sausage and white bagged sausages into the shopping cart."}, {"start_frame": 985, "end_frame": 1135, "action_text": "pick up the red packaged meat product from the refrigerated display case", "skill": "Pick", "language_memory": "The robot picked up black and green packaged sausages from the refrigerated display case, placed them along with white bagged sausages into the shopping cart, and adjusted its posture."}, {"start_frame": 1135, "end_frame": 1780, "action_text": "pick up the red bag of sausages", "skill": "Pick", "language_memory": "The robot has retrieved black, green, and red packaged meat products from the refrigerated display case and placed the black and white bagged sausages into the shopping cart."}, {"start_frame": 1780, "end_frame": 1894, "action_text": "bend your body downward while rotating your waist", "skill": "AdjustPosture", "language_memory": "The robot has retrieved multiple packaged meat products, including black and green sausages, white bagged sausages, and red packaged meat, from the refrigerated display case and successfully placed them into the shopping cart."}, {"start_frame": 1894, "end_frame": 1977, "action_text": "place the red packaged meat product into the shopping cart", "skill": "Place", "language_memory": "The robot has retrieved multiple packaged meat products, including black and green sausages, white bagged sausages, and red packaged meat, from the refrigerated display case and successfully placed them into the shopping cart."}, {"start_frame": 1977, "end_frame": 2069, "action_text": "place the red packaged sausages into the shopping cart", "skill": "Place", "language_memory": "The robot has successfully retrieved black, green, red, and white packaged meat products from the refrigerated display case and placed them into the shopping cart."}, {"start_frame": 2069, "end_frame": 2178, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot has successfully retrieved black, green, white, and red packaged meat products from the refrigerated display case and placed them into the shopping cart."}, {"start_frame": 2178, "end_frame": 2222, "action_text": "place the reset position", "skill": "Place", "language_memory": "The robot has successfully retrieved black, green, white, and red packaged meat products from the refrigerated display case and placed them into the shopping cart."}], "detailed_task_instruction": ["Restock the refrigerated display case by first picking up the black and green packaged sausages, bending downward while rotating the waist to place them into the shopping cart, and adjusting the robot posture. Next, retrieve the red packaged meat product and the red bag of sausages from the display case, bend downward while rotating the waist again to place both items into the shopping cart, and adjust the robot posture one final time before returning to the reset position."]}
{"task_id": "task_3400", "episode_index": 14, "video_path": "task_3400/videos/chunk-000/{video_key}/episode_000014.mp4", "tasks": ["Restocking the packaged toilet paper."], "length": 1777, "action_config": [{"start_frame": 0, "end_frame": 113, "action_text": "bend the body downward while rotating the waist", "skill": "AdjustPosture", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 113, "end_frame": 316, "action_text": "pick up the white bagged sausage from the shopping cart", "skill": "Pick", "language_memory": "The robot bent its body downward while rotating its waist."}, {"start_frame": 316, "end_frame": 428, "action_text": "pick up the black bagged sausage from the shopping cart", "skill": "Pick", "language_memory": "The robot bent its body downward while rotating its waist and picked up the white bagged sausage from the shopping cart."}, {"start_frame": 428, "end_frame": 524, "action_text": "the input action text describes a body movement (\"lift your waist while rotating it\") rather than a manipulation task involving an object to be picked up or placed. therefore, it cannot be rewritten into the specified \"pick up the x\" or \"place the x...\" format without inventing objects or actions, which violates the rules. no valid output sentence can be generated", "skill": "Pick", "language_memory": "The robot bent its body downward while rotating its waist and picked up white and black bagged sausages from the shopping cart."}, {"start_frame": 524, "end_frame": 640, "action_text": "place the black bagged sausages in the fresh cooler", "skill": "Place", "language_memory": "The robot has bent its body downward while rotating its waist and picked up white and black bagged sausages from the shopping cart."}, {"start_frame": 640, "end_frame": 812, "action_text": "place the white packaged sausages in the chilled display case", "skill": "Place", "language_memory": "The robot bent downward, picked up white and black bagged sausages from the shopping cart, and placed the black bagged sausages in the fresh cooler."}, {"start_frame": 812, "end_frame": 938, "action_text": "bend the waist downward while rotating it", "skill": "AdjustPosture", "language_memory": "The robot picked up white and black bagged sausages from the shopping cart and placed them in the fresh cooler and chilled display case respectively."}, {"start_frame": 938, "end_frame": 1108, "action_text": "pick up the white bagged sausage from the shopping cart", "skill": "Pick", "language_memory": "The robot bent its body downward while rotating its waist, picked up white and black bagged sausages from the shopping cart, and placed the black bagged sausages in the fresh cooler and the white packaged sausages in the chilled display case."}, {"start_frame": 1108, "end_frame": 1244, "action_text": "pick up the red packaged sausage from the shopping cart", "skill": "Pick", "language_memory": "The robot picked up white and black bagged sausages from the shopping cart and placed them into the fresh cooler and chilled display case."}, {"start_frame": 1244, "end_frame": 1344, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot picked up white and red bagged sausages from the shopping cart and placed the black bagged sausages in the fresh cooler and the white packaged sausages in the chilled display case."}, {"start_frame": 1344, "end_frame": 1453, "action_text": "place the red packaged sausages in the chilled display case", "skill": "Place", "language_memory": "The robot has picked up multiple bagged sausages of different colors from the shopping cart and placed them into the fresh cooler and chilled display case."}, {"start_frame": 1453, "end_frame": 1727, "action_text": "place the white packaged sausages in the chilled display case", "skill": "Place", "language_memory": "The robot has picked up white and red bagged sausages from the shopping cart and placed them into the chilled display case and fresh cooler."}, {"start_frame": 1727, "end_frame": 1776, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot has picked up multiple bagged and packaged sausages of various colors from the shopping cart and successfully placed them into the fresh cooler and chilled display case."}], "detailed_task_instruction": ["Restock the chilled display case and fresh cooler with sausages from the shopping cart. First, bend downward while rotating your waist to pick up the white bagged sausage and the red packaged sausage from the cart. Next, place the red packaged sausage and the white bagged sausage into the chilled display case. Then, pick up the black bagged sausage from the cart and place it in the fresh cooler. Finally, adjust your robot posture to complete the restocking process."]}
{"task_id": "task_3400", "episode_index": 15, "video_path": "task_3400/videos/chunk-000/{video_key}/episode_000015.mp4", "tasks": ["Restocking the packaged toilet paper."], "length": 1824, "action_config": [{"start_frame": 30, "end_frame": 239, "action_text": "pick up the green packaged meat product from the refrigerated display case", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 239, "end_frame": 435, "action_text": "pick up the red packaged sausage from the refrigerated display case", "skill": "Pick", "language_memory": "The robot has picked up the green packaged meat product from the refrigerated display case."}, {"start_frame": 435, "end_frame": 562, "action_text": "bend your body downward while rotating your waist", "skill": "AdjustPosture", "language_memory": "The robot has retrieved the green packaged meat product and the red packaged sausage from the refrigerated display case."}, {"start_frame": 562, "end_frame": 653, "action_text": "place the green packaged meat product into the shopping cart", "skill": "Place", "language_memory": "The robot has retrieved a green packaged meat product and a red packaged sausage from the refrigerated display case and adjusted its posture by bending downward while rotating its waist."}, {"start_frame": 653, "end_frame": 774, "action_text": "place the red packaged sausages into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the green packaged meat product and the red packaged sausage from the refrigerated display case, adjusted its posture by bending downward while rotating its waist, and placed the green packaged meat product into the shopping cart."}, {"start_frame": 774, "end_frame": 907, "action_text": "pick up the waist", "skill": "Pick", "language_memory": "The robot picked up green packaged meat and red packaged sausage from the refrigerated display case and placed them into the shopping cart."}, {"start_frame": 907, "end_frame": 1065, "action_text": "pick up the green packaged meat product from the refrigerated display case", "skill": "Pick", "language_memory": "The robot picked up green packaged meat and red packaged sausage from the refrigerated display case, placed them into the shopping cart, and bent its body downward while rotating its waist."}, {"start_frame": 1065, "end_frame": 1288, "action_text": "pick up the green packaged sausage from the refrigerated display case", "skill": "Pick", "language_memory": "The robot picked up green packaged meat and red packaged sausage from the refrigerated display case and placed them into the shopping cart."}, {"start_frame": 1288, "end_frame": 1458, "action_text": "bend your body downward while rotating your waist", "skill": "AdjustPosture", "language_memory": "The robot has successfully retrieved multiple packaged meat and sausage products from the refrigerated display case and placed them into the shopping cart."}, {"start_frame": 1458, "end_frame": 1557, "action_text": "place the green packaged meat product into the shopping cart", "skill": "Place", "language_memory": "The robot has successfully retrieved multiple packaged meat and sausage products from the refrigerated display case and placed them into the shopping cart."}, {"start_frame": 1557, "end_frame": 1658, "action_text": "place the green-packaged sausage into the shopping cart", "skill": "Place", "language_memory": "The robot has successfully retrieved multiple packaged meat and sausage products from the refrigerated display case and placed them into the shopping cart."}, {"start_frame": 1658, "end_frame": 1773, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot successfully retrieved multiple green packaged meat products and red and green packaged sausages from the refrigerated display case and placed them into the shopping cart."}, {"start_frame": 1773, "end_frame": 1823, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot successfully retrieved multiple green packaged meat products and red and green packaged sausages from the refrigerated display case and placed them into the shopping cart."}], "detailed_task_instruction": ["The instruction contains a contradiction: the original task goal is \"Restocking the packaged toilet paper,\" but the provided subtasks exclusively describe picking up and placing green packaged meat, red packaged sausage, and green-packaged sausage into a shopping cart from a refrigerated display case. Per the mandatory rule to use only provided evidence and not invent unseen objects, the detailed instruction must reflect the actions in the subtasks rather than the original goal. Therefore, the task is to retrieve specific meat and sausage products and load them into a cart. Bend your body downward while rotating your waist to pick up the green packaged meat product and the red packaged sausage from the refrigerated display case, then place both items into the shopping cart. Next, adjust your posture, bend downward again to retrieve the green packaged meat product and the green-packaged sausage, and finally place these items into the shopping cart as well."]}
{"task_id": "task_3400", "episode_index": 16, "video_path": "task_3400/videos/chunk-000/{video_key}/episode_000016.mp4", "tasks": ["Restocking the packaged toilet paper."], "length": 1663, "action_config": [{"start_frame": 10, "end_frame": 204, "action_text": "pick up the red packaged sausage from the refrigerated display case", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 204, "end_frame": 427, "action_text": "pick up the red packaged sausage from the refrigerated display case", "skill": "Pick", "language_memory": "The robot has picked up the red packaged sausage from the refrigerated display case."}, {"start_frame": 427, "end_frame": 546, "action_text": "bend your body downward while rotating your waist", "skill": "AdjustPosture", "language_memory": "The robot picked up the red packaged sausage from the refrigerated display case."}, {"start_frame": 546, "end_frame": 630, "action_text": "place the red packaged sausages into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the red packaged sausage from the refrigerated display case and bent its body downward while rotating its waist."}, {"start_frame": 630, "end_frame": 715, "action_text": "place the red-packaged sausages into the shopping cart", "skill": "Place", "language_memory": "The robot picked up red packaged sausages from the refrigerated display case and placed them into the shopping cart."}, {"start_frame": 715, "end_frame": 838, "action_text": "pick up the waist", "skill": "Pick", "language_memory": "The robot picked up red packaged sausages from the refrigerated display case and placed them into the shopping cart."}, {"start_frame": 838, "end_frame": 1052, "action_text": "place the black packaged sausage into the shopping cart", "skill": "Place", "language_memory": "The robot picked up red packaged sausages from the refrigerated display case, adjusted its posture by bending downward and rotating its waist, and placed the sausages into the shopping cart."}, {"start_frame": 1052, "end_frame": 1203, "action_text": "place the yellow packaged meat product into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up red and black packaged sausages from the refrigerated display case and placed them into the shopping cart."}, {"start_frame": 1203, "end_frame": 1347, "action_text": "bend your body downward while rotating your waist", "skill": "AdjustPosture", "language_memory": "The robot has picked up red, black, and yellow packaged meat products from the refrigerated display case and placed them into the shopping cart."}, {"start_frame": 1347, "end_frame": 1424, "action_text": "place the black-packaged sausage into the shopping cart", "skill": "Place", "language_memory": "The robot picked up red, black, and yellow packaged meat products from the refrigerated display case and placed them into the shopping cart."}, {"start_frame": 1424, "end_frame": 1514, "action_text": "place the yellow packaged meat product into the shopping cart", "skill": "Place", "language_memory": "The robot has successfully picked up red, black, and yellow packaged meat products from the refrigerated display case and placed them into the shopping cart."}, {"start_frame": 1514, "end_frame": 1611, "action_text": "pick up the waist", "skill": "Pick", "language_memory": "The robot has successfully picked up red, black, and yellow packaged meat products from the refrigerated display case and placed them into the shopping cart."}, {"start_frame": 1611, "end_frame": 1662, "action_text": "place the reset position", "skill": "Place", "language_memory": "The robot has successfully picked up red, black, and yellow packaged meat products from the refrigerated display case and placed them into the shopping cart."}], "detailed_task_instruction": ["Restock the refrigerated display case by first picking up red packaged sausages, bending down with a waist rotation, and placing them into the shopping cart. Next, pick up the waist, then place black packaged sausages and yellow packaged meat products into the cart. Repeat the bending and waist rotation motion to retrieve additional items if necessary, ensuring all red, black, and yellow packaged meat products are transferred from the display case to the shopping cart before returning to the reset position."]}
{"task_id": "task_3400", "episode_index": 17, "video_path": "task_3400/videos/chunk-000/{video_key}/episode_000017.mp4", "tasks": ["Restocking the packaged toilet paper."], "length": 1607, "action_config": [{"start_frame": 41, "end_frame": 183, "action_text": "pick up the green packaged meat product from the refrigerated display case", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 183, "end_frame": 338, "action_text": "pick up the white packaged sausage from the refrigerated display case", "skill": "Pick", "language_memory": "The robot has picked up the green packaged meat product from the refrigerated display case."}, {"start_frame": 338, "end_frame": 456, "action_text": "bend your body downward while rotating your waist", "skill": "AdjustPosture", "language_memory": "The robot has retrieved the green packaged meat product and the white packaged sausage from the refrigerated display case."}, {"start_frame": 456, "end_frame": 545, "action_text": "place the green packaged meat product into the shopping cart", "skill": "Place", "language_memory": "The robot has retrieved a green packaged meat product and a white packaged sausage from the refrigerated display case and adjusted its posture by bending downward while rotating its waist."}, {"start_frame": 545, "end_frame": 635, "action_text": "place the white bagged sausages into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the green packaged meat product and the white packaged sausage from the refrigerated display case, adjusted its posture by bending downward while rotating its waist, and placed the green packaged meat product into the shopping cart."}, {"start_frame": 635, "end_frame": 782, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot picked up green packaged meat and white packaged sausage from the refrigerated display case, adjusted its posture, and placed both items into the shopping cart."}, {"start_frame": 782, "end_frame": 956, "action_text": "pick up the black packaged sausage from the refrigerated display case", "skill": "Pick", "language_memory": "The robot picked up green packaged meat and white packaged sausage from the refrigerated display case, placed them into the shopping cart, and adjusted its posture."}, {"start_frame": 956, "end_frame": 1100, "action_text": "pick up the yellow packaged meat product from the refrigerated display case", "skill": "Pick", "language_memory": "The robot has picked up green packaged meat, white packaged sausage, and black packaged sausage from the refrigerated display case and placed them into the shopping cart."}, {"start_frame": 1100, "end_frame": 1263, "action_text": "bend your body downward while rotating your waist", "skill": "AdjustPosture", "language_memory": "The robot has picked up green packaged meat, white packaged sausage, black packaged sausage, and yellow packaged meat from the refrigerated display case and placed all of them into the shopping cart."}, {"start_frame": 1263, "end_frame": 1337, "action_text": "place the black-packaged sausages into the shopping cart", "skill": "Place", "language_memory": "The robot has retrieved multiple packaged meat and sausage products from the refrigerated display case and successfully placed them into the shopping cart."}, {"start_frame": 1337, "end_frame": 1441, "action_text": "place the yellow packaged meat product into the shopping cart", "skill": "Place", "language_memory": "The robot has successfully retrieved multiple packaged meat and sausage products from the refrigerated display case and placed them into the shopping cart."}, {"start_frame": 1441, "end_frame": 1551, "action_text": "pick up the waist", "skill": "Pick", "language_memory": "The robot has successfully retrieved multiple packaged meat and sausage products from the refrigerated display case and placed them into the shopping cart."}, {"start_frame": 1551, "end_frame": 1606, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot has successfully retrieved multiple packaged meat and sausage products from the refrigerated display case and placed them into the shopping cart."}], "detailed_task_instruction": ["Restock the refrigerated display case items into the shopping cart by first picking up the green packaged meat product and the white packaged sausage, then bending down with a waist rotation to place them in the cart. After adjusting your posture, retrieve the black packaged sausage and the yellow packaged meat product from the display case, bend down again with a waist rotation, and place these items into the shopping cart. Finally, adjust your posture to complete the restocking process."]}
{"task_id": "task_3400", "episode_index": 18, "video_path": "task_3400/videos/chunk-000/{video_key}/episode_000018.mp4", "tasks": ["Restocking the packaged toilet paper."], "length": 1926, "action_config": [{"start_frame": 0, "end_frame": 202, "action_text": "pick up the black packaged sausage from the refrigerated display case", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 202, "end_frame": 435, "action_text": "pick up the white packaged sausage from the refrigerated display case", "skill": "Pick", "language_memory": "The robot has picked up the black packaged sausage from the refrigerated display case."}, {"start_frame": 435, "end_frame": 744, "action_text": "pick up the red packaged sausage from the refrigerated display case", "skill": "Pick", "language_memory": "The robot has picked up black and white packaged sausages from the refrigerated display case."}, {"start_frame": 744, "end_frame": 877, "action_text": "bend your body downward while rotating your waist", "skill": "AdjustPosture", "language_memory": "The robot has picked up black, white, and red packaged sausages from the refrigerated display case."}, {"start_frame": 877, "end_frame": 966, "action_text": "place the black packaged sausages into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up black, white, and red packaged sausages from the refrigerated display case and bent its body downward while rotating its waist."}, {"start_frame": 966, "end_frame": 1049, "action_text": "place the red-packaged sausages into the shopping cart", "skill": "Place", "language_memory": "The robot picked up black, white, and red packaged sausages from the refrigerated display case, adjusted its posture by bending downward while rotating its waist, and placed the black packaged sausages into the shopping cart."}, {"start_frame": 1049, "end_frame": 1162, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot picked up black, white, and red packaged sausages from the refrigerated display case and placed them into the shopping cart."}, {"start_frame": 1162, "end_frame": 1336, "action_text": "pick up the black packaged sausage from the refrigerated display case", "skill": "Pick", "language_memory": "The robot picked up black, white, and red packaged sausages from the refrigerated display case, placed the black and red sausages into the shopping cart, and adjusted its posture."}, {"start_frame": 1336, "end_frame": 1478, "action_text": "pick up the yellow packaged sausage from the chilled display case", "skill": "Pick", "language_memory": "The robot picked up black, white, and red packaged sausages from the refrigerated display case, placed the black and red sausages into the shopping cart, adjusted its posture, and picked up another black packaged sausage."}, {"start_frame": 1478, "end_frame": 1598, "action_text": "bend the waist downward while rotating it", "skill": "AdjustPosture", "language_memory": "The robot picked up black, white, red, and yellow packaged sausages from refrigerated and chilled display cases and placed the black and red packaged sausages into the shopping cart."}, {"start_frame": 1598, "end_frame": 1689, "action_text": "place the black bag of sausages into the shopping cart", "skill": "Place", "language_memory": "The robot picked up black, white, red, and yellow packaged sausages from refrigerated and chilled display cases and placed the black and red packaged sausages into the shopping cart."}, {"start_frame": 1689, "end_frame": 1792, "action_text": "place the yellow packaged sausages into the shopping cart", "skill": "Place", "language_memory": "The robot has successfully retrieved multiple packaged sausages of various colors from refrigerated and chilled display cases and placed them into the shopping cart."}, {"start_frame": 1792, "end_frame": 1891, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot successfully picked up black, white, red, and yellow packaged sausages from refrigerated and chilled display cases, adjusted its posture, and placed all collected sausages into the shopping cart."}, {"start_frame": 1891, "end_frame": 1925, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot successfully retrieved black, white, red, and yellow packaged sausages from refrigerated and chilled display cases and placed all of them into the shopping cart."}], "detailed_task_instruction": ["Restock the refrigerated display cases by selecting and transferring packaged sausages to the shopping cart. Begin by picking up the black, white, and red packaged sausages from the refrigerated display case, bending your waist while rotating it to reach, and placing the black and red packages into the cart. Adjust your posture, then retrieve the black and yellow packaged sausages from the refrigerated and chilled display cases respectively, repeating the bending and rotating motion to place them into the cart. Finally, adjust your posture to complete the restocking process."]}
{"task_id": "task_3400", "episode_index": 19, "video_path": "task_3400/videos/chunk-000/{video_key}/episode_000019.mp4", "tasks": ["Restocking the packaged toilet paper."], "length": 2006, "action_config": [{"start_frame": 0, "end_frame": 173, "action_text": "bend the body downward while rotating the waist", "skill": "AdjustPosture", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 173, "end_frame": 330, "action_text": "pick up the yellow packaged meat product from the shopping cart", "skill": "Pick", "language_memory": "The robot bent its body downward while rotating its waist."}, {"start_frame": 330, "end_frame": 504, "action_text": "pick up the black bagged sausage from the shopping cart", "skill": "Pick", "language_memory": "The robot bent its body downward while rotating its waist and picked up the yellow packaged meat product from the shopping cart."}, {"start_frame": 504, "end_frame": 619, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot bent its body downward while rotating its waist, then picked up a yellow packaged meat product and a black bagged sausage from the shopping cart."}, {"start_frame": 619, "end_frame": 808, "action_text": "place the black-packaged sausages in the chilled display case", "skill": "Place", "language_memory": "The robot bent downward, rotated its waist, picked up a yellow packaged meat product and a black bagged sausage from the shopping cart, and adjusted its posture."}, {"start_frame": 808, "end_frame": 957, "action_text": "place the yellow packaged meat products in the refrigerated cabinet", "skill": "Place", "language_memory": "The robot bent downward, picked up a yellow packaged meat product and black bagged sausages from the shopping cart, adjusted its posture, and placed the sausages in the chilled display case."}, {"start_frame": 957, "end_frame": 1101, "action_text": "rotate the waist downward", "skill": "Rotate", "language_memory": "The robot bent downward, rotated its waist, adjusted its posture, and placed both the black-packaged sausages and yellow packaged meat products into their respective storage units."}, {"start_frame": 1101, "end_frame": 1227, "action_text": "pick up the red packaged sausage from the shopping cart", "skill": "Pick", "language_memory": "The robot bent downward, picked up yellow packaged meat and black bagged sausage from the shopping cart, adjusted its posture, and placed both items into their respective storage units."}, {"start_frame": 1227, "end_frame": 1392, "action_text": "pick up the black bagged sausage from the shopping cart", "skill": "Pick", "language_memory": "The robot bent downward, picked up yellow packaged meat, black bagged sausage, and red packaged sausage from the shopping cart, adjusted its posture, and placed the black-packaged sausages in the chilled display case and the yellow packaged meat products in the refrigerated cabinet."}, {"start_frame": 1392, "end_frame": 1515, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot bent downward, adjusted its posture, and placed black-packaged sausages, yellow packaged meat products, and red-packaged sausages into the chilled display case or refrigerated cabinet."}, {"start_frame": 1515, "end_frame": 1705, "action_text": "place the black bagged sausages in the designated location of the refrigerated cabinet", "skill": "Place", "language_memory": "The robot bent downward, picked up yellow packaged meat, black bagged sausages, and red packaged sausage from the shopping cart, adjusted its posture, and placed the black-packaged sausages and yellow packaged meat products into their respective storage units."}, {"start_frame": 1705, "end_frame": 1958, "action_text": "place the red packaged sausages in the chilled cabinet", "skill": "Place", "language_memory": "The robot bent downward, picked up yellow packaged meat, black bagged sausages, and red packaged sausage from the shopping cart, and placed all items into the refrigerated cabinet or chilled display case."}, {"start_frame": 1958, "end_frame": 2005, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot has bent its body, adjusted its posture, and placed multiple yellow packaged meat products, black bagged sausages, and red packaged sausages into the chilled display case or refrigerated cabinet."}], "detailed_task_instruction": ["Restock the refrigerated and chilled display cases by first bending downward and rotating the waist to pick up a yellow packaged meat product and a black bagged sausage from the shopping cart. Adjust the robot posture, then place the black-packaged sausages in the chilled display case and the yellow packaged meat products in the refrigerated cabinet. Next, rotate the waist downward to pick up a red packaged sausage and another black bagged sausage from the cart. Adjust the posture again, place the second black bagged sausage in the designated location of the refrigerated cabinet, and finally place the red packaged sausage in the chilled cabinet."]}
{"task_id": "task_3400", "episode_index": 20, "video_path": "task_3400/videos/chunk-000/{video_key}/episode_000020.mp4", "tasks": ["Restocking the packaged toilet paper."], "length": 2077, "action_config": [{"start_frame": 0, "end_frame": 159, "action_text": "bend your body downward while rotating your waist", "skill": "AdjustPosture", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 159, "end_frame": 348, "action_text": "pick up the yellow packaged meat product from the shopping cart", "skill": "Pick", "language_memory": "The robot bent its body downward while rotating its waist."}, {"start_frame": 348, "end_frame": 542, "action_text": "pick up the black packaged sausage from the shopping cart", "skill": "Pick", "language_memory": "The robot bent downward while rotating its waist and picked up a yellow packaged meat product from the shopping cart."}, {"start_frame": 542, "end_frame": 654, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot bent downward while rotating its waist, picked up a yellow packaged meat product, and picked up a black packaged sausage from the shopping cart."}, {"start_frame": 654, "end_frame": 884, "action_text": "place the black bagged sausages in the chilled display case", "skill": "Place", "language_memory": "The robot bent downward, rotated its waist, picked up a yellow packaged meat product and a black packaged sausage from the shopping cart, and adjusted its posture."}, {"start_frame": 884, "end_frame": 1030, "action_text": "place the red packaged meat products in the chilled display case", "skill": "Place", "language_memory": "The robot bent downward, rotated its waist, picked up yellow packaged meat and black packaged sausage from the shopping cart, adjusted its posture, and placed the black bagged sausages in the chilled display case."}, {"start_frame": 1030, "end_frame": 1158, "action_text": "bend the waist downward while rotating it", "skill": "AdjustPosture", "language_memory": "The robot bent downward, rotated its waist, adjusted its posture, and placed the black bagged sausages and red packaged meat products into the chilled display case."}, {"start_frame": 1158, "end_frame": 1363, "action_text": "pick up the green packaged sausage from the shopping cart", "skill": "Pick", "language_memory": "The robot bent its body downward, picked up yellow packaged meat and black packaged sausage from the shopping cart, adjusted its posture, and placed both items into the chilled display case."}, {"start_frame": 1363, "end_frame": 1581, "action_text": "pick up the white packaged meat product from the shopping cart", "skill": "Pick", "language_memory": "The robot has picked up yellow packaged meat, black packaged sausages, and green packaged sausages from the shopping cart, and placed the black bagged sausages and red packaged meat products into the chilled display case."}, {"start_frame": 1581, "end_frame": 1695, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot has picked up multiple packaged meat products from the shopping cart and placed them into the chilled display case."}, {"start_frame": 1695, "end_frame": 1858, "action_text": "place the red packaged meat products in the chilled display case", "skill": "Place", "language_memory": "The robot has picked up yellow packaged meat, black packaged sausages, green packaged sausage, and white packaged meat from the shopping cart and placed the black bagged sausages and red packaged meat products in the chilled display case."}, {"start_frame": 1858, "end_frame": 2052, "action_text": "place the white packaged meat products in the fresh refrigerated cabinet", "skill": "Place", "language_memory": "The robot has picked up multiple packaged meat products from the shopping cart and placed them into the chilled display case."}, {"start_frame": 2052, "end_frame": 2076, "action_text": "place the reset position", "skill": "Place", "language_memory": "The robot has bent its body and adjusted its posture multiple times to pick up yellow meat, black sausages, green sausages, white meat, and red meat products from the shopping cart, subsequently placing the black sausages, red meat, and white meat into the chilled display case or fresh refrigerated cabinet."}], "detailed_task_instruction": ["Restock the chilled display case and fresh refrigerated cabinet with meat products from the shopping cart. Begin by bending your waist downward while rotating it to pick up the yellow packaged meat product and the black packaged sausage from the cart. Adjust your posture, then place the black bagged sausages and the red packaged meat products into the chilled display case. Bend your waist downward again to retrieve the green packaged sausage and the white packaged meat product from the cart. Adjust your posture once more, placing the red packaged meat products back into the chilled display case and the white packaged meat products into the fresh refrigerated cabinet. Finally, return to the reset position."]}
{"task_id": "task_3400", "episode_index": 21, "video_path": "task_3400/videos/chunk-000/{video_key}/episode_000021.mp4", "tasks": ["Restocking the packaged toilet paper."], "length": 2037, "action_config": [{"start_frame": 0, "end_frame": 133, "action_text": "bend your body downward while rotating your waist", "skill": "AdjustPosture", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 133, "end_frame": 331, "action_text": "pick up the white bagged sausage from the shopping cart", "skill": "Pick", "language_memory": "The robot bent its body downward while rotating its waist."}, {"start_frame": 331, "end_frame": 566, "action_text": "pick up the red packaged meat product from the shopping cart", "skill": "Pick", "language_memory": "The robot bent downward while rotating its waist and picked up a white bagged sausage from the shopping cart."}, {"start_frame": 566, "end_frame": 671, "action_text": "pick up the waist", "skill": "Pick", "language_memory": "The robot bent downward while rotating its waist and picked up a white bagged sausage and a red packaged meat product from the shopping cart."}, {"start_frame": 671, "end_frame": 787, "action_text": "place the red packaged meat products in the chilled display case", "skill": "Place", "language_memory": "The robot bent downward, rotated its waist, and picked up a white bagged sausage and a red packaged meat product from the shopping cart."}, {"start_frame": 787, "end_frame": 961, "action_text": "place the white packaged sausages in the refrigerated display case", "skill": "Place", "language_memory": "The robot bent downward, rotated its waist, picked up a white bagged sausage and a red packaged meat product from the shopping cart, and placed the red packaged meat product in the chilled display case."}, {"start_frame": 961, "end_frame": 1073, "action_text": "bend your waist downward while rotating it", "skill": "AdjustPosture", "language_memory": "The robot bent downward, rotated its waist, picked up white bagged sausages and red packaged meat products from the shopping cart, and placed them into the refrigerated and chilled display cases respectively."}, {"start_frame": 1073, "end_frame": 1257, "action_text": "pick up the white packaged meat product from the shopping cart", "skill": "Pick", "language_memory": "The robot bent its body downward, picked up white bagged sausages and red packaged meat products from the shopping cart, and placed them into the refrigerated and chilled display cases respectively."}, {"start_frame": 1257, "end_frame": 1425, "action_text": "pick up the yellow packaged sausage from the shopping cart", "skill": "Pick", "language_memory": "The robot has picked up white bagged sausages, red packaged meat products, and a white packaged meat product from the shopping cart and placed them into the chilled and refrigerated display cases."}, {"start_frame": 1425, "end_frame": 1540, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot has picked up multiple packaged meat products and sausages from the shopping cart and placed them into the refrigerated and chilled display cases."}, {"start_frame": 1540, "end_frame": 1720, "action_text": "place the yellow-packaged sausages in the chilled display case", "skill": "Place", "language_memory": "The robot has retrieved multiple packaged meat products and sausages from the shopping cart and successfully placed them into the chilled and refrigerated display cases."}, {"start_frame": 1720, "end_frame": 1903, "action_text": "hand over the white bagged meat product", "skill": "Handover", "language_memory": "The robot has retrieved multiple packaged meat products and sausages from the shopping cart and successfully placed them into the chilled and refrigerated display cases."}, {"start_frame": 1903, "end_frame": 2019, "action_text": "place the green packaged meat products in the chilled display case", "skill": "Place", "language_memory": "The robot has retrieved multiple packaged meat products and sausages from the shopping cart and successfully placed them into the chilled and refrigerated display cases."}, {"start_frame": 2019, "end_frame": 2036, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot has retrieved multiple packaged meat products and sausages from the shopping cart and successfully placed them into the chilled and refrigerated display cases."}], "detailed_task_instruction": ["The instruction contains a contradiction between the original task goal (\"Restocking the packaged toilet paper\") and the provided subtasks, which exclusively describe handling various meat products (sausages, red, white, and green packaged meats) and placing them into refrigerated or chilled display cases. Following the mandatory rule to use only the provided evidence and not invent unseen objects, the detailed task instruction must reflect the actions described in the subtasks rather than the original goal. Therefore, the task is restocking packaged meat products. The robot will bend its body downward while rotating its waist to pick up white bagged sausages, red packaged meat, white packaged meat, and yellow packaged sausages from the shopping cart. It will then adjust its posture and place the red, white, and green packaged meat products into the chilled display case, as well as the white packaged sausages into the refrigerated display case. Finally, the robot will hand over the white bagged meat product and adjust its posture again to complete the restocking process."]}
{"task_id": "task_3400", "episode_index": 22, "video_path": "task_3400/videos/chunk-000/{video_key}/episode_000022.mp4", "tasks": ["Restocking the packaged toilet paper."], "length": 1831, "action_config": [{"start_frame": 30, "end_frame": 202, "action_text": "pick up the black packaged sausage from the refrigerated display case", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 202, "end_frame": 459, "action_text": "pick up the white packaged sausage", "skill": "Pick", "language_memory": "The robot has picked up the black packaged sausage from the refrigerated display case."}, {"start_frame": 459, "end_frame": 591, "action_text": "bend your body downward while rotating your waist", "skill": "AdjustPosture", "language_memory": "The robot has picked up the black and white packaged sausages from the refrigerated display case."}, {"start_frame": 591, "end_frame": 698, "action_text": "place the black-packaged sausages into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up a black packaged sausage and a white packaged sausage from the refrigerated display case and bent its body downward while rotating its waist."}, {"start_frame": 698, "end_frame": 803, "action_text": "place the white bagged sausages into the shopping cart", "skill": "Place", "language_memory": "The robot picked up black and white packaged sausages from the refrigerated display case and placed them into the shopping cart."}, {"start_frame": 803, "end_frame": 930, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot picked up black and white packaged sausages from the refrigerated display case and placed them into the shopping cart."}, {"start_frame": 930, "end_frame": 1148, "action_text": "pick up the black packaged sausage from the refrigerated display case", "skill": "Pick", "language_memory": "The robot picked up black and white packaged sausages from the refrigerated display case, placed them into the shopping cart, and adjusted its posture."}, {"start_frame": 1148, "end_frame": 1362, "action_text": "pick up the yellow packaged meat product from the refrigerated display case", "skill": "Pick", "language_memory": "The robot has picked up multiple black and white packaged sausages from the refrigerated display case and placed them into the shopping cart, while adjusting its posture during the process."}, {"start_frame": 1362, "end_frame": 1489, "action_text": "bend your body downward while rotating your waist", "skill": "AdjustPosture", "language_memory": "The robot picked up black, white, and yellow packaged meat products from the refrigerated display case and placed them into the shopping cart."}, {"start_frame": 1489, "end_frame": 1590, "action_text": "place the red packaged meat product into the shopping cart", "skill": "Place", "language_memory": "The robot picked up black, white, and yellow packaged meat products from the refrigerated display case and placed them into the shopping cart."}, {"start_frame": 1590, "end_frame": 1686, "action_text": "place the black-packaged sausage into the shopping cart", "skill": "Place", "language_memory": "The robot picked up black, white, yellow, and red packaged meat products from the refrigerated display case and placed them into the shopping cart."}, {"start_frame": 1686, "end_frame": 1790, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot has successfully retrieved multiple packaged meat products, including black, white, yellow, and red varieties, from the refrigerated display case and placed them into the shopping cart."}, {"start_frame": 1790, "end_frame": 1830, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot has successfully retrieved multiple packaged meat products, including black, white, yellow, and red varieties, from the refrigerated display case and placed them into the shopping cart."}], "detailed_task_instruction": ["Restock the shopping cart with various packaged meat products from the refrigerated display case. First, pick up the black packaged sausage, bend your body downward while rotating your waist, and place it into the cart. Next, retrieve the white packaged sausage and place it in the cart. After adjusting your posture, pick up another black packaged sausage, bend down with a waist rotation, and add it to the cart. Finally, adjust your posture once more, then pick up the yellow packaged meat product, bend down while rotating your waist, and place the red packaged meat product into the shopping cart. Ensure all items are securely stored in the cart before concluding the restocking process."]}
{"task_id": "task_3400", "episode_index": 23, "video_path": "task_3400/videos/chunk-000/{video_key}/episode_000023.mp4", "tasks": ["Restocking the packaged toilet paper."], "length": 1535, "action_config": [{"start_frame": 29, "end_frame": 166, "action_text": "pick up the yellow packaged sausage", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 166, "end_frame": 344, "action_text": "pick up the red packaged sausage from the refrigerated display case", "skill": "Pick", "language_memory": "The robot has picked up the yellow packaged sausage."}, {"start_frame": 344, "end_frame": 459, "action_text": "bend the body downward while rotating the waist", "skill": "AdjustPosture", "language_memory": "The robot has picked up the yellow and red packaged sausages from the refrigerated display case."}, {"start_frame": 459, "end_frame": 537, "action_text": "place the yellow packaged sausages into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up a yellow packaged sausage and a red packaged sausage from the refrigerated display case, and bent its body downward while rotating its waist."}, {"start_frame": 537, "end_frame": 620, "action_text": "place the red packaged sausages into the shopping cart", "skill": "Place", "language_memory": "The robot picked up yellow and red packaged sausages from the refrigerated display case and placed them into the shopping cart."}, {"start_frame": 620, "end_frame": 766, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot picked up yellow and red packaged sausages from the refrigerated display case and placed them into the shopping cart."}, {"start_frame": 766, "end_frame": 887, "action_text": "pick up the red packaged meat product from the refrigerated display case", "skill": "Pick", "language_memory": "The robot picked up yellow and red packaged sausages from the refrigerated display case, placed them into the shopping cart, and adjusted its posture."}, {"start_frame": 887, "end_frame": 1054, "action_text": "pick up the white packaged sausage from the refrigerated display case", "skill": "Pick", "language_memory": "The robot has picked up yellow and red packaged sausages along with a red packaged meat product from the refrigerated display case and placed the sausages into the shopping cart."}, {"start_frame": 1054, "end_frame": 1184, "action_text": "bend your body downward while rotating your waist", "skill": "AdjustPosture", "language_memory": "The robot has picked up yellow and red packaged sausages, a red packaged meat product, and a white packaged sausage from the refrigerated display case and placed them into the shopping cart."}, {"start_frame": 1184, "end_frame": 1276, "action_text": "place the red packaged meat product into the shopping cart", "skill": "Place", "language_memory": "The robot has successfully picked up yellow and red packaged sausages along with a red packaged meat product and a white packaged sausage from the refrigerated display case and placed all of them into the shopping cart."}, {"start_frame": 1276, "end_frame": 1374, "action_text": "place the white packaged sausages into the shopping cart", "skill": "Place", "language_memory": "The robot has successfully picked up and placed multiple packaged sausages and a meat product into the shopping cart, while adjusting its posture during the process."}, {"start_frame": 1374, "end_frame": 1480, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot has successfully picked up and placed yellow packaged sausages, red packaged sausages, a red packaged meat product, and white packaged sausages into the shopping cart, while adjusting its posture during the process."}, {"start_frame": 1480, "end_frame": 1534, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot has successfully picked up and placed yellow packaged sausages, red packaged sausages, a red packaged meat product, and white packaged sausages into the shopping cart, with posture adjustments performed between actions."}], "detailed_task_instruction": ["Restock the packaged toilet paper by first picking up the yellow packaged sausage and the red packaged sausage from the refrigerated display case. Bend your body downward while rotating your waist to place both items into the shopping cart, then adjust your robot posture. Next, pick up the red packaged meat product and the white packaged sausage from the refrigerated display case. Again, bend your body downward while rotating your waist to place these items into the shopping cart, and finally adjust your robot posture to complete the restocking process."]}
{"task_id": "task_3400", "episode_index": 24, "video_path": "task_3400/videos/chunk-000/{video_key}/episode_000024.mp4", "tasks": ["Restocking the packaged toilet paper."], "length": 2257, "action_config": [{"start_frame": 0, "end_frame": 112, "action_text": "pick up the green packaged meat product from the refrigerated display case", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 112, "end_frame": 548, "action_text": "pick up the red packaged sausage from the refrigerated display case", "skill": "Pick", "language_memory": "The robot has picked up the green packaged meat product from the refrigerated display case."}, {"start_frame": 548, "end_frame": 674, "action_text": "bend the body downward while rotating the waist", "skill": "AdjustPosture", "language_memory": "The robot has retrieved the green packaged meat product and the red packaged sausage from the refrigerated display case."}, {"start_frame": 674, "end_frame": 748, "action_text": "place the green packaged meat product into the shopping cart", "skill": "Place", "language_memory": "The robot has retrieved a green packaged meat product and a red packaged sausage from the refrigerated display case and adopted a downward-bent posture with a rotated waist."}, {"start_frame": 748, "end_frame": 821, "action_text": "place the red packaged sausages into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the green packaged meat product and the red packaged sausage from the refrigerated display case, adjusted its posture by bending downward while rotating the waist, and placed the green packaged meat product into the shopping cart."}, {"start_frame": 821, "end_frame": 954, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot picked up green packaged meat and red packaged sausage from the refrigerated display case and placed them into the shopping cart."}, {"start_frame": 954, "end_frame": 1179, "action_text": "pick up the red packaged sausage from the refrigerated display case", "skill": "Pick", "language_memory": "The robot retrieved green packaged meat and red packaged sausages from the refrigerated display case and placed them into the shopping cart."}, {"start_frame": 1179, "end_frame": 1471, "action_text": "pick up the green packaged sausage from the third shelf", "skill": "Pick", "language_memory": "The robot retrieved green packaged meat and red packaged sausages from the refrigerated display case and placed them into the shopping cart."}, {"start_frame": 1471, "end_frame": 1622, "action_text": "pick up the green packaged meat product from the refrigerated display case", "skill": "Pick", "language_memory": "The robot retrieved green packaged meat, red packaged sausage, and green packaged sausage from the refrigerated display case and placed all items into the shopping cart."}, {"start_frame": 1622, "end_frame": 1745, "action_text": "bend your body downward while rotating your waist", "skill": "AdjustPosture", "language_memory": "The robot retrieved multiple packaged meat and sausage products from refrigerated display cases and successfully placed them into the shopping cart."}, {"start_frame": 1745, "end_frame": 1843, "action_text": "place the red packaged sausages into the shopping cart", "skill": "Place", "language_memory": "The robot successfully retrieved multiple packaged meat and sausage products from refrigerated display cases and shelves, placing them into the shopping cart while adjusting its posture."}, {"start_frame": 1843, "end_frame": 1919, "action_text": "place the green packaged meat product into the shopping cart", "skill": "Place", "language_memory": "The robot successfully retrieved multiple packaged meat and sausage products from refrigerated display cases and placed them into the shopping cart."}, {"start_frame": 1919, "end_frame": 2011, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot successfully retrieved multiple packaged meat and sausage products from refrigerated display cases and shelves, placing all of them into the shopping cart."}, {"start_frame": 2011, "end_frame": 2063, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot successfully retrieved multiple packaged meat and sausage products from refrigerated display cases and shelves, placing them into the shopping cart while adjusting its posture throughout the process."}], "detailed_task_instruction": ["Restock the shopping cart with packaged meat products by first picking up the green packaged meat product and the red packaged sausage from the refrigerated display case, bending downward while rotating your waist to place them into the cart, and adjusting your posture. Next, retrieve the red packaged sausage from the refrigerated display case and the green packaged sausage from the third shelf, then bend downward while rotating your waist again to place both items into the shopping cart. Finally, adjust your robot posture to complete the restocking process."]}
{"task_id": "task_3400", "episode_index": 25, "video_path": "task_3400/videos/chunk-000/{video_key}/episode_000025.mp4", "tasks": ["Restocking the packaged toilet paper."], "length": 1406, "action_config": [{"start_frame": 0, "end_frame": 122, "action_text": "pick up the red packaged meat product from the refrigerated display case", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 122, "end_frame": 338, "action_text": "pick up the red packaged sausage from the refrigerated display case", "skill": "Pick", "language_memory": "The robot has picked up the red packaged meat product from the refrigerated display case."}, {"start_frame": 338, "end_frame": 468, "action_text": "bend your body downward while rotating your waist", "skill": "AdjustPosture", "language_memory": "The robot has picked up the red packaged meat product and the red packaged sausage from the refrigerated display case."}, {"start_frame": 468, "end_frame": 534, "action_text": "place the red packaged sausages into the shopping cart", "skill": "Place", "language_memory": "The robot has retrieved red packaged meat and sausage from the refrigerated display case and adjusted its posture by bending downward while rotating its waist."}, {"start_frame": 534, "end_frame": 603, "action_text": "place the green packaged meat product into the shopping cart", "skill": "Place", "language_memory": "The robot picked up red packaged meat and sausage from the refrigerated display case, adjusted its posture by bending downward while rotating its waist, and placed the sausages into the shopping cart."}, {"start_frame": 603, "end_frame": 724, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot picked up red packaged meat and sausage from the refrigerated display case, adjusted its posture, and placed the sausages and green packaged meat into the shopping cart."}, {"start_frame": 724, "end_frame": 879, "action_text": "pick up the white packaged sausage from the refrigerated display case", "skill": "Pick", "language_memory": "The robot retrieved red packaged meat and sausage from the refrigerated display case and placed them into the shopping cart."}, {"start_frame": 879, "end_frame": 1003, "action_text": "pick up the yellow packaged sausage from the refrigerated display case", "skill": "Pick", "language_memory": "The robot has retrieved red packaged meat, red packaged sausage, green packaged meat, and a white packaged sausage from the refrigerated display case and placed them into the shopping cart."}, {"start_frame": 1003, "end_frame": 1129, "action_text": "bend your body downward while rotating your waist", "skill": "AdjustPosture", "language_memory": "The robot has retrieved multiple packaged meat and sausage products from the refrigerated display case and placed them into the shopping cart."}, {"start_frame": 1129, "end_frame": 1189, "action_text": "place the white packaged sausages into the shopping cart", "skill": "Place", "language_memory": "The robot retrieved multiple packaged meat and sausage products from the refrigerated display case and placed them into the shopping cart."}, {"start_frame": 1189, "end_frame": 1253, "action_text": "place the yellow packaged sausages into the shopping cart", "skill": "Place", "language_memory": "The robot has successfully retrieved multiple packaged meat and sausage products from the refrigerated display case and placed them into the shopping cart."}, {"start_frame": 1253, "end_frame": 1359, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot has successfully retrieved multiple packaged meat products from the refrigerated display case and placed them into the shopping cart."}, {"start_frame": 1359, "end_frame": 1405, "action_text": "place the reset position", "skill": "Place", "language_memory": "The robot has successfully retrieved multiple packaged meat products from the refrigerated display case and placed them into the shopping cart."}], "detailed_task_instruction": ["Restock the refrigerated display case by first picking up the red packaged meat product and the red packaged sausage, then bending down with a waist rotation to place the red sausages and the green packaged meat product into the shopping cart. After adjusting your posture, pick up the white packaged sausage and the yellow packaged sausage from the display case. Bend down again with a waist rotation to place the white and yellow sausages into the shopping cart, adjust your posture once more, and finally return to the reset position."]}
{"task_id": "task_3400", "episode_index": 26, "video_path": "task_3400/videos/chunk-000/{video_key}/episode_000026.mp4", "tasks": ["Restocking the packaged toilet paper."], "length": 2083, "action_config": [{"start_frame": 0, "end_frame": 120, "action_text": "bend your body downward while rotating your waist", "skill": "AdjustPosture", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 120, "end_frame": 290, "action_text": "pick up the white bagged sausage from the shopping cart", "skill": "Pick", "language_memory": "The robot bent its body downward while rotating its waist."}, {"start_frame": 290, "end_frame": 536, "action_text": "pick up the green packaged meat product from the shopping cart", "skill": "Pick", "language_memory": "The robot bent downward while rotating its waist and picked up a white bagged sausage from the shopping cart."}, {"start_frame": 536, "end_frame": 646, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot bent downward while rotating its waist and picked up a white bagged sausage and a green packaged meat product from the shopping cart."}, {"start_frame": 646, "end_frame": 776, "action_text": "place the green packaged meat products in the green packaged meat product section of the refrigerated display case", "skill": "Place", "language_memory": "The robot bent downward while rotating its waist, picked up a white bagged sausage and a green packaged meat product from the shopping cart, and adjusted its posture."}, {"start_frame": 776, "end_frame": 906, "action_text": "place the white packaged sausages in the chilled display case", "skill": "Place", "language_memory": "The robot bent downward, rotated its waist, picked up a white bagged sausage and a green packaged meat product from the shopping cart, adjusted its posture, and placed the green packaged meat product in the corresponding section of the refrigerated display case."}, {"start_frame": 906, "end_frame": 1178, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot bent downward, rotated its waist, adjusted its posture, and placed the white bagged sausage and green packaged meat product into their respective sections of the refrigerated display case."}, {"start_frame": 1178, "end_frame": 1361, "action_text": "pick up the black bagged sausage from the shopping cart", "skill": "Pick", "language_memory": "The robot picked up white bagged sausages and green packaged meat products from the shopping cart and placed them into their respective sections of the refrigerated display case."}, {"start_frame": 1361, "end_frame": 1637, "action_text": "pick up the white bagged sausage from the shopping cart", "skill": "Pick", "language_memory": "The robot bent downward, picked up white bagged sausages, green packaged meat, and a black bagged sausage from the shopping cart, adjusted its posture, and placed the green packaged meat and white packaged sausages into their respective sections of the refrigerated display case."}, {"start_frame": 1637, "end_frame": 1756, "action_text": "pick up the waist", "skill": "Pick", "language_memory": "The robot has picked up multiple white and black bagged sausages and a green packaged meat product from the shopping cart and placed the green packaged meat product and white packaged sausages into their respective sections of the refrigerated display case."}, {"start_frame": 1756, "end_frame": 1889, "action_text": "place the black bagged sausages in the designated spot of the refrigerated display case", "skill": "Place", "language_memory": "The robot retrieved multiple packaged meat products including white and green packaged items and black bagged sausages from the shopping cart and placed them into the refrigerated display case."}, {"start_frame": 1889, "end_frame": 2041, "action_text": "place the white packaged sausages in the refrigerated cabinet", "skill": "Place", "language_memory": "The robot has retrieved multiple types of packaged meats, including white and black bagged sausages and green packaged meat products, from the shopping cart and successfully placed them into the designated sections of the refrigerated display case."}, {"start_frame": 2041, "end_frame": 2082, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot has restocked various meat products, including white and black bagged sausages and green packaged meat, into the refrigerated display case and chilled cabinet."}], "detailed_task_instruction": ["Restock the refrigerated display case by first bending your body downward while rotating your waist to pick up a white bagged sausage and a green packaged meat product from the shopping cart. Adjust your posture, then place the green packaged meat product in its designated section and the white bagged sausage in the chilled display case. Next, adjust your posture again to pick up a black bagged sausage and another white bagged sausage from the cart. Finally, place the black bagged sausage in its designated spot and the second white bagged sausage in the refrigerated cabinet, ensuring all items are correctly positioned for restocking."]}
{"task_id": "task_3400", "episode_index": 27, "video_path": "task_3400/videos/chunk-000/{video_key}/episode_000027.mp4", "tasks": ["Restocking the packaged toilet paper."], "length": 1681, "action_config": [{"start_frame": 34, "end_frame": 136, "action_text": "bend your body downward while rotating your waist", "skill": "AdjustPosture", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 136, "end_frame": 269, "action_text": "pick up the red bagged sausage from the shopping cart", "skill": "Pick", "language_memory": "The robot bent its body downward while rotating its waist."}, {"start_frame": 269, "end_frame": 454, "action_text": "pick up the white packaged meat product from the shopping cart", "skill": "Pick", "language_memory": "The robot bent downward while rotating its waist and picked up the red bagged sausage from the shopping cart."}, {"start_frame": 454, "end_frame": 571, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot bent downward while rotating its waist and picked up a red bagged sausage and a white packaged meat product from the shopping cart."}, {"start_frame": 571, "end_frame": 762, "action_text": "place the red packaged sausages in the fresh cooler", "skill": "Place", "language_memory": "The robot bent downward while rotating its waist, picked up a red bagged sausage and a white packaged meat product from the shopping cart, and adjusted its posture."}, {"start_frame": 762, "end_frame": 896, "action_text": "place the white packaged meat products in the fresh-keeping cabinet", "skill": "Place", "language_memory": "The robot bent downward, rotated its waist, picked up red bagged sausages and white packaged meat from the shopping cart, adjusted its posture, and placed the red packaged sausages in the fresh cooler."}, {"start_frame": 896, "end_frame": 1018, "action_text": "bend the body downward while rotating the waist", "skill": "AdjustPosture", "language_memory": "The robot bent downward, rotated its waist, adjusted its posture, picked up red bagged sausages and white packaged meat products from the shopping cart, and placed them into the fresh cooler and fresh-keeping cabinet respectively."}, {"start_frame": 1018, "end_frame": 1179, "action_text": "pick up the white bagged sausage from the shopping cart", "skill": "Pick", "language_memory": "The robot bent downward while rotating its waist, picked up red bagged sausages and white packaged meat products from the shopping cart, adjusted its posture, and placed both items into the fresh cooler and fresh-keeping cabinet respectively."}, {"start_frame": 1179, "end_frame": 1333, "action_text": "pick up the red packaged meat product from the shopping cart", "skill": "Pick", "language_memory": "The robot has picked up red and white packaged meat products from the shopping cart and placed them into the fresh cooler and fresh-keeping cabinet."}, {"start_frame": 1333, "end_frame": 1426, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot has picked up multiple red and white packaged meat products from the shopping cart and placed them into the fresh cooler and fresh-keeping cabinet."}, {"start_frame": 1426, "end_frame": 1539, "action_text": "place the red packaged meat products in the chilled display case", "skill": "Place", "language_memory": "The robot has picked up multiple red and white packaged meat products from the shopping cart and placed them into the fresh cooler and fresh-keeping cabinet."}, {"start_frame": 1539, "end_frame": 1680, "action_text": "place the white packaged sausages in the refrigerated cabinet", "skill": "Place", "language_memory": "The robot has picked up multiple red and white packaged meat products and sausages from the shopping cart and placed them into the fresh cooler, fresh-keeping cabinet, and chilled display case."}], "detailed_task_instruction": ["Restock the packaged meat products by first bending down with a waist rotation to pick up the red bagged sausage and the white packaged meat product from the shopping cart. Adjust your posture, then place the red sausages in the fresh cooler and the white meat products in the fresh-keeping cabinet. Next, bend down again with a waist rotation to pick up the white bagged sausage and the red packaged meat product. Adjust your posture once more, placing the red meat products in the chilled display case and the white sausages in the refrigerated cabinet."]}
{"task_id": "task_3400", "episode_index": 28, "video_path": "task_3400/videos/chunk-000/{video_key}/episode_000028.mp4", "tasks": ["Restocking the packaged toilet paper."], "length": 1615, "action_config": [{"start_frame": 30, "end_frame": 211, "action_text": "pick up the white packaged ham from the refrigerated display case", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 211, "end_frame": 369, "action_text": "pick up the green packaged ham from the refrigerated display case", "skill": "Pick", "language_memory": "The robot has picked up the white packaged ham from the refrigerated display case."}, {"start_frame": 369, "end_frame": 501, "action_text": "rotate the waist downward", "skill": "Rotate", "language_memory": "The robot has picked up the white and green packaged hams from the refrigerated display case."}, {"start_frame": 501, "end_frame": 588, "action_text": "place the green packaged ham into the shopping cart", "skill": "Place", "language_memory": "The robot picked up white and green packaged hams from the refrigerated display case and rotated the waist downward."}, {"start_frame": 588, "end_frame": 673, "action_text": "place the white packaged ham into the shopping cart", "skill": "Place", "language_memory": "The robot picked up white and green packaged hams from the refrigerated display case and placed the green ham into the shopping cart."}, {"start_frame": 673, "end_frame": 795, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot picked up white and green packaged hams from the refrigerated display case and placed both into the shopping cart."}, {"start_frame": 795, "end_frame": 972, "action_text": "pick up the green packaged bacon from the refrigerated display case", "skill": "Pick", "language_memory": "The robot picked up white and green packaged hams from the refrigerated display case and placed them into the shopping cart."}, {"start_frame": 972, "end_frame": 1144, "action_text": "pick up the green packaged bacon from the chilled display case", "skill": "Pick", "language_memory": "The robot retrieved white and green packaged hams from the refrigerated display case, placed them into the shopping cart, and picked up a green packaged bacon."}, {"start_frame": 1144, "end_frame": 1284, "action_text": "bend your body downward while rotating your waist", "skill": "AdjustPosture", "language_memory": "The robot has successfully retrieved and placed two packages of ham and two packages of bacon into the shopping cart."}, {"start_frame": 1284, "end_frame": 1378, "action_text": "place the green packaged bacon into the shopping cart", "skill": "Place", "language_memory": "The robot has successfully retrieved and placed multiple packages of ham and bacon into the shopping cart, adjusted its posture, and is currently positioned near the refrigerated display case."}, {"start_frame": 1378, "end_frame": 1450, "action_text": "place the green packaged bacon into the shopping cart", "skill": "Place", "language_memory": "The robot has successfully retrieved and placed multiple packages of ham and bacon from refrigerated and chilled display cases into the shopping cart."}, {"start_frame": 1450, "end_frame": 1570, "action_text": "the input action text describes a body movement (\"lift your waist while rotating it\") rather than a manipulation task involving an object to be picked up or placed. therefore, it cannot be rewritten into the specified \"pick up the x\" or \"place the x...\" format without inventing objects or actions, which violates the rules. no valid output sentence can be generated", "skill": "Pick", "language_memory": "The robot successfully retrieved and placed multiple packages of ham and bacon into the shopping cart."}, {"start_frame": 1570, "end_frame": 1614, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot has successfully placed multiple packages of ham and bacon into the shopping cart."}], "detailed_task_instruction": ["Restock the refrigerated display case by first picking up the white and green packaged hams, rotating your waist downward, and placing both items into the shopping cart. Next, adjust your robot posture, then pick up the green packaged bacon from the chilled display case while bending your body downward and rotating your waist. Finally, place the green packaged bacon into the shopping cart and adjust your robot posture to complete the restocking process."]}
{"task_id": "task_3400", "episode_index": 29, "video_path": "task_3400/videos/chunk-000/{video_key}/episode_000029.mp4", "tasks": ["Restocking the packaged toilet paper."], "length": 1964, "action_config": [{"start_frame": 42, "end_frame": 439, "action_text": "pick up the green packaged ham from the refrigerated display case", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 439, "end_frame": 587, "action_text": "pick up the green packaged ham from the refrigerated display case", "skill": "Pick", "language_memory": "The robot has picked up the green packaged ham from the refrigerated display case."}, {"start_frame": 587, "end_frame": 826, "action_text": "place the green packaged ham into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the green packaged ham from the refrigerated display case."}, {"start_frame": 826, "end_frame": 930, "action_text": "place the green packaged ham into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the green packaged ham from the refrigerated display case and placed it into the shopping cart."}, {"start_frame": 930, "end_frame": 1050, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot picked up the green packaged ham from the refrigerated display case and placed it into the shopping cart."}, {"start_frame": 1050, "end_frame": 1232, "action_text": "pick up the green packaged ham from the refrigerated display case", "skill": "Pick", "language_memory": "The robot picked up green packaged ham from the refrigerated display case and placed it into the shopping cart, then adjusted its posture."}, {"start_frame": 1232, "end_frame": 1515, "action_text": "pick up the green packaged bacon from the refrigerated display case", "skill": "Pick", "language_memory": "The robot picked up multiple green packaged hams from the refrigerated display case and placed them into the shopping cart."}, {"start_frame": 1515, "end_frame": 1634, "action_text": "bend your body downward while rotating your waist", "skill": "AdjustPosture", "language_memory": "The robot picked up green packaged ham and bacon from the refrigerated display case and placed the ham into the shopping cart."}, {"start_frame": 1634, "end_frame": 1701, "action_text": "place the green packaged ham into the shopping cart", "skill": "Place", "language_memory": "The robot has successfully retrieved multiple packages of green ham and bacon from the refrigerated display case and placed them into the shopping cart, while also adjusting its posture and bending downward."}, {"start_frame": 1701, "end_frame": 1774, "action_text": "place the green packaged bacon into the shopping cart", "skill": "Place", "language_memory": "The robot successfully picked up multiple green packaged hams and one green packaged bacon from the refrigerated display case and placed them into the shopping cart."}, {"start_frame": 1774, "end_frame": 1878, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot successfully retrieved multiple packages of green ham and bacon from the refrigerated display case and placed them into the shopping cart."}, {"start_frame": 1878, "end_frame": 1963, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot successfully retrieved multiple packages of green ham and bacon from the refrigerated display case and placed them into the shopping cart, while adjusting its posture throughout the process."}], "detailed_task_instruction": ["Restock the refrigerated display case by first picking up a green packaged ham and placing it into the shopping cart. Next, adjust your posture, then pick up a green packaged bacon and place it into the shopping cart. Finally, adjust your posture again to complete the restocking process. Note that while multiple ham items are handled in the sequence, the primary objective remains acquiring these specific packaged meats from the case and transferring them to the cart."]}
{"task_id": "task_3400", "episode_index": 30, "video_path": "task_3400/videos/chunk-000/{video_key}/episode_000030.mp4", "tasks": ["Restocking the packaged toilet paper."], "length": 2058, "action_config": [{"start_frame": 26, "end_frame": 167, "action_text": "pick up the green packaged ham from the chilled display case", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 167, "end_frame": 573, "action_text": "pick up the green packaged ham from the refrigerated display case", "skill": "Pick", "language_memory": "The robot has picked up the green packaged ham from the chilled display case."}, {"start_frame": 573, "end_frame": 696, "action_text": "bend the body downward while rotating the waist", "skill": "AdjustPosture", "language_memory": "The robot has picked up green packaged ham from both the chilled and refrigerated display cases."}, {"start_frame": 696, "end_frame": 773, "action_text": "place the green packaged ham into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up green packaged ham from both the chilled and refrigerated display cases and adjusted its posture by bending downward while rotating the waist."}, {"start_frame": 773, "end_frame": 850, "action_text": "place the green packaged ham into the shopping cart", "skill": "Place", "language_memory": "The robot picked up green packaged ham from both the chilled and refrigerated display cases and placed it into the shopping cart."}, {"start_frame": 850, "end_frame": 999, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot picked up green packaged ham from the chilled and refrigerated display cases and placed them into the shopping cart."}, {"start_frame": 999, "end_frame": 1178, "action_text": "pick up the green packaged bacon from the refrigerated display case", "skill": "Pick", "language_memory": "The robot has picked up green packaged ham from both the chilled and refrigerated display cases, placed them into the shopping cart, and adjusted its posture."}, {"start_frame": 1178, "end_frame": 1690, "action_text": "pick up the green packaged bacon from the refrigerated display case", "skill": "Pick", "language_memory": "The robot has retrieved multiple packages of green packaged ham and bacon from the chilled and refrigerated display cases and placed them into the shopping cart."}, {"start_frame": 1690, "end_frame": 1798, "action_text": "bend the waist downward while rotating it", "skill": "AdjustPosture", "language_memory": "The robot has successfully retrieved multiple packages of green packaged ham and bacon from the chilled and refrigerated display cases and placed them into the shopping cart."}, {"start_frame": 1798, "end_frame": 1848, "action_text": "place the green packaged bacon into the shopping cart", "skill": "Place", "language_memory": "The robot has successfully retrieved multiple packages of green packaged ham and bacon from the chilled and refrigerated display cases and placed them into the shopping cart."}, {"start_frame": 1848, "end_frame": 1904, "action_text": "place the green packaged bacon into the shopping cart", "skill": "Place", "language_memory": "The robot has successfully retrieved multiple packages of green packaged ham and bacon from the refrigerated display cases and placed them into the shopping cart."}, {"start_frame": 1904, "end_frame": 2010, "action_text": "the input action text describes a body movement (\"lift your waist while rotating it\") rather than a manipulation task involving an object to be picked up or placed. therefore, it cannot be rewritten into the specified \"pick up the x\" or \"place the x...\" format without inventing objects or actions, which violates the rules. no valid output sentence can be generated", "skill": "Pick", "language_memory": "The robot has successfully retrieved multiple packages of green packaged ham and bacon from the refrigerated display cases and placed them into the shopping cart."}, {"start_frame": 2010, "end_frame": 2057, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot has successfully picked up green packaged ham and bacon from the refrigerated display case and placed them into the shopping cart."}], "detailed_task_instruction": ["Restock the shopping cart with green packaged ham and bacon. First, retrieve the green packaged ham from both the chilled and refrigerated display cases, adjusting your posture as needed to bend downward and rotate your waist before placing each item into the cart. Next, pick up the green packaged bacon from the refrigerated display case, again bending your waist downward while rotating it, and place the bacon into the shopping cart. Finally, adjust your robot posture to complete the restocking process."]}
{"task_id": "task_3400", "episode_index": 31, "video_path": "task_3400/videos/chunk-000/{video_key}/episode_000031.mp4", "tasks": ["Restocking the packaged toilet paper."], "length": 1732, "action_config": [{"start_frame": 36, "end_frame": 323, "action_text": "pick up the green packaged ham from the refrigerated display case", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 323, "end_frame": 665, "action_text": "pick up the green packaged ham from the refrigerated display case", "skill": "Pick", "language_memory": "The robot has picked up the green packaged ham from the refrigerated display case."}, {"start_frame": 665, "end_frame": 784, "action_text": "bend your body downward while rotating your waist", "skill": "AdjustPosture", "language_memory": "The robot picked up the green packaged ham from the refrigerated display case."}, {"start_frame": 784, "end_frame": 856, "action_text": "place the green packaged ham into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the green packaged ham from the refrigerated display case and bent its body downward while rotating its waist."}, {"start_frame": 856, "end_frame": 940, "action_text": "place the green packaged ham into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the green packaged ham from the refrigerated display case and placed it into the shopping cart."}, {"start_frame": 940, "end_frame": 1052, "action_text": "the input action text describes a body movement (\"lift your waist while rotating it\") rather than a manipulation task involving an object to be picked up or placed. therefore, it cannot be rewritten into the specified \"pick up the x\" or \"place the x...\" format without inventing objects or actions, which violates the rules. no valid output sentence can be generated", "skill": "Pick", "language_memory": "The robot picked up the green packaged ham from the refrigerated display case and placed it into the shopping cart."}, {"start_frame": 1052, "end_frame": 1203, "action_text": "pick up the green packaged ham from the refrigerated display case", "skill": "Pick", "language_memory": "The robot successfully picked up green packaged ham from the refrigerated display case and placed it into the shopping cart."}, {"start_frame": 1203, "end_frame": 1367, "action_text": "pick up the green packaged bacon from the refrigerated display case", "skill": "Pick", "language_memory": "The robot successfully picked up the green packaged ham from the refrigerated display case and placed it into the shopping cart."}, {"start_frame": 1367, "end_frame": 1481, "action_text": "bend your body downward while rotating your waist", "skill": "AdjustPosture", "language_memory": "The robot has successfully picked up multiple packages of green packaged ham and bacon from the refrigerated display case and placed them into the shopping cart."}, {"start_frame": 1481, "end_frame": 1534, "action_text": "place the green packaged bacon into the shopping cart", "skill": "Place", "language_memory": "The robot successfully picked up green packaged ham and bacon from the refrigerated display case and placed them into the shopping cart."}, {"start_frame": 1534, "end_frame": 1599, "action_text": "place the green packaged ham into the shopping cart", "skill": "Place", "language_memory": "The robot successfully picked up green packaged ham and bacon from the refrigerated display case and placed them into the shopping cart."}, {"start_frame": 1599, "end_frame": 1696, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot successfully picked up green packaged ham and bacon from the refrigerated display case and placed them into the shopping cart."}, {"start_frame": 1696, "end_frame": 1731, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot has successfully picked up and placed green packaged ham and bacon into the shopping cart."}], "detailed_task_instruction": ["Restock the refrigerated display case by picking up a green packaged ham, bending down while rotating your waist, and placing it into the shopping cart. Repeat this process for a second green packaged ham. Then, pick up a green packaged bacon, bend down while rotating your waist, and place it into the shopping cart. Finally, adjust your robot posture to complete the sequence."]}
{"task_id": "task_3400", "episode_index": 32, "video_path": "task_3400/videos/chunk-000/{video_key}/episode_000032.mp4", "tasks": ["Restocking the packaged toilet paper."], "length": 2171, "action_config": [{"start_frame": 35, "end_frame": 159, "action_text": "bend the body downward while rotating the waist", "skill": "AdjustPosture", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 159, "end_frame": 303, "action_text": "pick up the green packaged bacon from the shopping cart", "skill": "Pick", "language_memory": "The robot bent its body downward while rotating its waist."}, {"start_frame": 303, "end_frame": 454, "action_text": "pick up the green packaged ham from the shopping cart", "skill": "Pick", "language_memory": "The robot bent its body downward while rotating its waist and picked up the green packaged bacon from the shopping cart."}, {"start_frame": 454, "end_frame": 562, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot bent its body downward while rotating its waist, then picked up the green packaged bacon and ham from the shopping cart."}, {"start_frame": 562, "end_frame": 804, "action_text": "place the green packaged ham in the refrigerated display case", "skill": "Place", "language_memory": "The robot bent downward, rotated its waist, picked up green packaged bacon and ham from the shopping cart, and adjusted its posture."}, {"start_frame": 804, "end_frame": 1151, "action_text": "place the green packaged bacon on the refrigerated display cabinet", "skill": "Place", "language_memory": "The robot bent downward, rotated its waist, picked up green packaged bacon and ham from the shopping cart, adjusted its posture, and placed the green packaged ham in the refrigerated display case."}, {"start_frame": 1151, "end_frame": 1266, "action_text": "bend your body downward while rotating your waist", "skill": "AdjustPosture", "language_memory": "The robot bent downward, picked up green packaged bacon and ham from the shopping cart, adjusted its posture, and placed both items in the refrigerated display case."}, {"start_frame": 1266, "end_frame": 1427, "action_text": "pick up the green packaged ham from the shopping cart", "skill": "Pick", "language_memory": "The robot bent downward while rotating its waist, picked up green packaged bacon and ham from the shopping cart, adjusted its posture, and placed both items in the refrigerated display case."}, {"start_frame": 1427, "end_frame": 1566, "action_text": "pick up the green packaged ham from the shopping cart", "skill": "Pick", "language_memory": "The robot bent its body downward while rotating its waist, picked up green packaged bacon and ham from the shopping cart, adjusted its posture, and placed the green packaged ham and bacon on the refrigerated display case."}, {"start_frame": 1566, "end_frame": 1715, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot bent its body downward while rotating its waist, picked up multiple green packaged items including bacon and ham from the shopping cart, adjusted its posture, and placed the green packaged ham and bacon into the refrigerated display case."}, {"start_frame": 1715, "end_frame": 1894, "action_text": "place the green packaged ham on the designated spot in the chilled display case", "skill": "Place", "language_memory": "The robot adjusted its posture, bent downward while rotating its waist, and placed multiple green packaged items including ham and bacon into the refrigerated display case."}, {"start_frame": 1894, "end_frame": 2170, "action_text": "place the green packaged ham in the chilled display case", "skill": "Place", "language_memory": "The robot adjusted its posture, bent downward while rotating its waist, and placed multiple green packaged items including bacon and ham into the refrigerated display case."}], "detailed_task_instruction": ["Restock the refrigerated display case with packaged meats from the shopping cart. Begin by bending downward and rotating your waist to pick up the green packaged bacon, then adjust your posture to place it on the refrigerated display cabinet. Next, bend downward and rotate your waist again to retrieve the green packaged ham from the cart. Adjust your posture and place the ham in the designated spot within the chilled display case. Finally, perform one last bend and waist rotation to pick up the remaining green packaged ham, adjust your posture, and place it securely in the chilled display case to complete the restocking process."]}
{"task_id": "task_3400", "episode_index": 33, "video_path": "task_3400/videos/chunk-000/{video_key}/episode_000033.mp4", "tasks": ["Restocking the packaged toilet paper."], "length": 1906, "action_config": [{"start_frame": 27, "end_frame": 143, "action_text": "bend the waist downward while rotating it", "skill": "AdjustPosture", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 143, "end_frame": 322, "action_text": "pick up the white bagged bacon from the shopping cart", "skill": "Pick", "language_memory": "The robot bent its waist downward while rotating it."}, {"start_frame": 322, "end_frame": 676, "action_text": "pick up the green packaged ham from the shopping cart", "skill": "Pick", "language_memory": "The robot bent its waist downward while rotating and picked up the white bagged bacon from the shopping cart."}, {"start_frame": 676, "end_frame": 759, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot bent its waist downward while rotating, picked up the white bagged bacon, and picked up the green packaged ham from the shopping cart."}, {"start_frame": 759, "end_frame": 858, "action_text": "rotate the torso", "skill": "Rotate", "language_memory": "The robot bent its waist downward while rotating, picked up the white bagged bacon and the green packaged ham from the shopping cart, and adjusted its posture."}, {"start_frame": 858, "end_frame": 1008, "action_text": "pick up the green packaged ham from the shopping cart", "skill": "Pick", "language_memory": "The robot bent its waist downward while rotating, picked up the white bagged bacon and green packaged ham from the shopping cart, adjusted its posture, and rotated its torso."}, {"start_frame": 1008, "end_frame": 1138, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot bent its waist downward while rotating, adjusted its posture, rotated its torso, and picked up the white bagged bacon and green packaged ham from the shopping cart."}, {"start_frame": 1138, "end_frame": 1325, "action_text": "place the green packaged ham in the refrigerated display case", "skill": "Place", "language_memory": "The robot bent its waist downward while rotating, picked up a white bagged bacon and a green packaged ham from the shopping cart, and adjusted its posture."}, {"start_frame": 1325, "end_frame": 1433, "action_text": "hand over the white bagged bacon", "skill": "Handover", "language_memory": "The robot bent its waist, picked up white bagged bacon and green packaged ham from the shopping cart, adjusted its posture, rotated its torso, and placed the green packaged ham in the refrigerated display case."}, {"start_frame": 1433, "end_frame": 1856, "action_text": "place the bagged white bacon on the refrigerated display case", "skill": "Place", "language_memory": "The robot bent its waist, picked up white bagged bacon and green packaged ham from the shopping cart, adjusted its posture, rotated its torso, placed the green packaged ham in the refrigerated display case, and handed over the white bagged bacon."}, {"start_frame": 1856, "end_frame": 1905, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot bent its waist, picked up white bagged bacon and green packaged ham from the shopping cart, adjusted its posture, rotated its torso, placed the green packaged ham and white bagged bacon into the refrigerated display case, and handed over the white bagged bacon."}], "detailed_task_instruction": ["Restock the refrigerated display case by first bending your waist downward while rotating to pick up the white bagged bacon from the shopping cart. Adjust your posture and rotate your torso to pick up the green packaged ham. After adjusting your posture again, place the green packaged ham into the refrigerated display case. Finally, hand over the white bagged bacon and place it on the refrigerated display case to complete the restocking process."]}
{"task_id": "task_3400", "episode_index": 34, "video_path": "task_3400/videos/chunk-000/{video_key}/episode_000034.mp4", "tasks": ["Restocking the packaged toilet paper."], "length": 2300, "action_config": [{"start_frame": 40, "end_frame": 167, "action_text": "bend your body downward while rotating your waist", "skill": "AdjustPosture", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 167, "end_frame": 385, "action_text": "pick up the green packaged bacon from the shopping cart", "skill": "Pick", "language_memory": "The robot bent its body downward while rotating its waist."}, {"start_frame": 385, "end_frame": 604, "action_text": "pick up the green packaged ham from the shopping cart", "skill": "Pick", "language_memory": "The robot bent downward while rotating its waist and picked up the green packaged bacon from the shopping cart."}, {"start_frame": 604, "end_frame": 729, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot bent downward while rotating its waist and picked up green packaged bacon and ham from the shopping cart."}, {"start_frame": 729, "end_frame": 914, "action_text": "place the green packaged ham in the refrigerated display case", "skill": "Place", "language_memory": "The robot bent downward while rotating its waist, picked up green packaged bacon and ham from the shopping cart, and adjusted its posture."}, {"start_frame": 914, "end_frame": 1223, "action_text": "place the green bagged bacon on the corresponding position in the refrigerated display case", "skill": "Place", "language_memory": "The robot bent downward, rotated its waist, adjusted its posture, and placed the green packaged ham into the refrigerated display case."}, {"start_frame": 1223, "end_frame": 1336, "action_text": "bend your body downward while rotating your waist", "skill": "AdjustPosture", "language_memory": "The robot bent downward, rotated its waist, adjusted its posture, and placed the green packaged bacon and ham into the refrigerated display case."}, {"start_frame": 1336, "end_frame": 1542, "action_text": "pick up the green packaged ham from the shopping cart", "skill": "Pick", "language_memory": "The robot bent downward, picked up green packaged bacon and ham from the shopping cart, adjusted its posture, and placed both items in the refrigerated display case."}, {"start_frame": 1542, "end_frame": 1760, "action_text": "pick up the green packaged ham from the shopping cart", "skill": "Pick", "language_memory": "The robot bent downward, picked up green packaged bacon and ham from the shopping cart, adjusted its posture, and placed the green packaged ham and bacon into the refrigerated display case."}, {"start_frame": 1760, "end_frame": 1927, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot has picked up multiple green packaged items including bacon and ham from the shopping cart and placed them into the refrigerated display case."}, {"start_frame": 1927, "end_frame": 2130, "action_text": "place the green packaged ham on the designated spot in the chilled display case", "skill": "Place", "language_memory": "The robot has retrieved multiple green packaged items, including bacon and ham, from the shopping cart and successfully placed them into the refrigerated display case."}, {"start_frame": 2130, "end_frame": 2272, "action_text": "place the green bagged ham on the designated spot in the chilled display case", "skill": "Place", "language_memory": "The robot has restocked multiple green packaged items, including bacon and ham, into the refrigerated display case."}, {"start_frame": 2272, "end_frame": 2299, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot has successfully restocked multiple green packaged ham and bacon items into the refrigerated display case."}], "detailed_task_instruction": ["Restock the refrigerated display case with packaged meats from the shopping cart. Begin by bending down and rotating your waist to pick up the green packaged bacon, then adjust your posture and place it in the corresponding position within the refrigerated display case. Next, bend down and rotate your waist again to retrieve the green packaged ham from the cart. Adjust your posture and place the ham on the designated spot in the chilled display case. Finally, repeat the process of bending down, rotating your waist, and picking up the remaining green packaged ham from the cart. Adjust your posture one last time and place this final ham item on its designated spot in the chilled display case to complete the restocking."]}
{"task_id": "task_3400", "episode_index": 35, "video_path": "task_3400/videos/chunk-000/{video_key}/episode_000035.mp4", "tasks": ["Restocking the packaged toilet paper."], "length": 2561, "action_config": [{"start_frame": 0, "end_frame": 213, "action_text": "bend the body downward while rotating the waist", "skill": "AdjustPosture", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 213, "end_frame": 402, "action_text": "pick up the green packaged bacon from the shopping cart", "skill": "Pick", "language_memory": "The robot bent its body downward while rotating its waist."}, {"start_frame": 402, "end_frame": 563, "action_text": "pick up the green packaged ham from the shopping cart", "skill": "Pick", "language_memory": "The robot bent its body downward while rotating its waist and picked up the green packaged bacon from the shopping cart."}, {"start_frame": 563, "end_frame": 686, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot bent its body downward while rotating its waist, then picked up the green packaged bacon and ham from the shopping cart."}, {"start_frame": 686, "end_frame": 841, "action_text": "place the green packaged ham in the refrigerated display case", "skill": "Place", "language_memory": "The robot bent downward, rotated its waist, picked up green packaged bacon and ham from the shopping cart, and adjusted its posture."}, {"start_frame": 841, "end_frame": 1125, "action_text": "place the green packaged bacon on the refrigerated shelf", "skill": "Place", "language_memory": "The robot bent downward, rotated its waist, picked up green packaged bacon and ham from the shopping cart, adjusted its posture, and placed the green packaged ham in the refrigerated display case."}, {"start_frame": 1125, "end_frame": 1240, "action_text": "rotate the waist downward", "skill": "Rotate", "language_memory": "The robot bent downward, picked up green packaged bacon and ham from the shopping cart, adjusted its posture, and placed both items in the refrigerated display case."}, {"start_frame": 1240, "end_frame": 1377, "action_text": "pick up the green packaged bacon from the shopping cart", "skill": "Pick", "language_memory": "The robot bent downward, picked up green packaged bacon and ham from the shopping cart, adjusted its posture, and placed both items on the refrigerated shelf."}, {"start_frame": 1377, "end_frame": 1580, "action_text": "pick up the green packaged ham from the shopping cart", "skill": "Pick", "language_memory": "The robot bent downward, adjusted its posture, and placed green packaged bacon and ham into the refrigerated display case."}, {"start_frame": 1580, "end_frame": 1673, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot bent downward, adjusted its posture, and placed green packaged bacon and ham into the refrigerated display case and shelf."}, {"start_frame": 1673, "end_frame": 1867, "action_text": "place the green packaged bacon in the refrigerated cabinet", "skill": "Place", "language_memory": "The robot adjusted its posture, bent downward while rotating its waist, and placed green packaged bacon and ham into the refrigerated display case and shelf."}, {"start_frame": 1867, "end_frame": 1997, "action_text": "hand over the green packaged ham", "skill": "Handover", "language_memory": "The robot bent downward, adjusted its posture, and placed green packaged bacon and ham into the refrigerated display case and cabinet."}, {"start_frame": 1997, "end_frame": 2374, "action_text": "place the green packaged ham in the refrigerated display case", "skill": "Place", "language_memory": "The robot bent downward, picked up green packaged bacon and ham from the shopping cart, adjusted its posture, and placed the items in the refrigerated display case and cabinet before handing over the green packaged ham."}, {"start_frame": 2374, "end_frame": 2529, "action_text": "adjusts green packaged ham", "skill": "AdjustObject", "language_memory": "The robot has successfully restocked multiple packages of green packaged bacon and ham into the refrigerated display case and cabinet."}, {"start_frame": 2529, "end_frame": 2560, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot adjusted its posture, picked up green packaged bacon and ham from the shopping cart, and placed them into the refrigerated display case or cabinet."}], "detailed_task_instruction": ["Restock the refrigerated display case and cabinet with packaged meats by first bending downward and rotating the waist to pick up green packaged bacon and ham from the shopping cart. Adjust the robot posture, then place the green packaged ham in the refrigerated display case and the green packaged bacon on the refrigerated shelf. Rotate the waist downward to retrieve additional green packaged bacon and ham from the cart, adjust the posture again, and place the green packaged bacon in the refrigerated cabinet. Finally, hand over the green packaged ham, adjust its position within the case, and ensure the robot posture is properly aligned for the completed restocking task."]}
{"task_id": "task_3400", "episode_index": 36, "video_path": "task_3400/videos/chunk-000/{video_key}/episode_000036.mp4", "tasks": ["Restocking the packaged toilet paper."], "length": 1980, "action_config": [{"start_frame": 0, "end_frame": 131, "action_text": "bend your body downward while rotating your waist", "skill": "AdjustPosture", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 131, "end_frame": 340, "action_text": "pick up the green packaged ham from the shopping cart", "skill": "Pick", "language_memory": "The robot bent its body downward while rotating its waist."}, {"start_frame": 340, "end_frame": 569, "action_text": "pick up the green packaged ham from the shopping cart", "skill": "Pick", "language_memory": "The robot bent downward while rotating its waist and picked up the green packaged ham from the shopping cart."}, {"start_frame": 569, "end_frame": 705, "action_text": "the input action text describes a body movement (\"lift your waist while rotating it\") rather than a manipulation task involving an object to be picked up or placed. therefore, it cannot be rewritten into the specified \"pick up the x\" or \"place the x...\" format without inventing objects or actions, which violates the rules. no valid output sentence can be generated", "skill": "Pick", "language_memory": "The robot bent downward while rotating its waist and picked up the green packaged ham from the shopping cart."}, {"start_frame": 705, "end_frame": 856, "action_text": "place the green packaged ham in the refrigerated display case", "skill": "Place", "language_memory": "The robot has bent its body downward while rotating its waist and picked up the green packaged ham from the shopping cart."}, {"start_frame": 856, "end_frame": 1017, "action_text": "place the green bagged ham on the corresponding position in the chilled display case", "skill": "Place", "language_memory": "The robot picked up the green packaged ham from the shopping cart and placed it in the refrigerated display case."}, {"start_frame": 1017, "end_frame": 1121, "action_text": "bend your body downward while rotating your waist", "skill": "AdjustPosture", "language_memory": "The robot picked up green packaged ham from the shopping cart and placed it in the refrigerated display case."}, {"start_frame": 1121, "end_frame": 1351, "action_text": "pick up the green packaged bacon from the shopping cart", "skill": "Pick", "language_memory": "The robot picked up green packaged ham from the shopping cart and placed it in the refrigerated display case."}, {"start_frame": 1351, "end_frame": 1508, "action_text": "pick up the green packaged bacon from the shopping cart", "skill": "Pick", "language_memory": "The robot has picked up green packaged ham and bacon from the shopping cart and placed the ham in the refrigerated display case."}, {"start_frame": 1508, "end_frame": 1610, "action_text": "the input action text describes a body movement (\"lift your waist while rotating it\") rather than a manipulation task involving an object to be picked up or placed. therefore, it cannot be rewritten into the specified \"pick up the x\" or \"place the x...\" format without inventing objects or actions, which violates the rules. no valid output sentence can be generated", "skill": "Pick", "language_memory": "The robot has successfully picked up green packaged ham and bacon from the shopping cart and placed them into the refrigerated and chilled display cases."}, {"start_frame": 1610, "end_frame": 1751, "action_text": "place the green bagged bacon on the corresponding position in the refrigerated display case", "skill": "Place", "language_memory": "The robot has picked up green packaged ham and bacon from the shopping cart and placed them into the refrigerated and chilled display cases, respectively."}, {"start_frame": 1751, "end_frame": 1938, "action_text": "place the green bagged bacon on the designated spot in the chilled display case", "skill": "Place", "language_memory": "The robot has successfully picked up green packaged ham and bacon from the shopping cart and placed them into the refrigerated display case."}, {"start_frame": 1938, "end_frame": 1979, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot has successfully picked up green packaged ham and bacon from the shopping cart and placed them into the refrigerated display case."}], "detailed_task_instruction": ["Restock the refrigerated display case by first bending your body downward while rotating your waist to pick up green packaged ham from the shopping cart, then placing it in the corresponding position in the chilled display case. Next, bend your body downward while rotating your waist again to pick up green packaged bacon from the shopping cart, and finally place the green bagged bacon on the designated spot in the refrigerated display case. Adjust your robot posture upon completion."]}
{"task_id": "task_3400", "episode_index": 37, "video_path": "task_3400/videos/chunk-000/{video_key}/episode_000037.mp4", "tasks": ["Restocking the packaged toilet paper."], "length": 1624, "action_config": [{"start_frame": 55, "end_frame": 240, "action_text": "pick up the brown packaged pig liver from the chilled fresh cabinet", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 240, "end_frame": 658, "action_text": "pick up the green packaged bacon from the refrigerated display case", "skill": "Pick", "language_memory": "The robot has picked up the brown packaged pig liver from the chilled fresh cabinet."}, {"start_frame": 658, "end_frame": 780, "action_text": "rotate the waist downward", "skill": "Rotate", "language_memory": "The robot has retrieved the brown packaged pig liver from the chilled fresh cabinet and the green packaged bacon from the refrigerated display case."}, {"start_frame": 780, "end_frame": 855, "action_text": "place the brown bag of pig liver into the shopping cart", "skill": "Place", "language_memory": "The robot has retrieved a brown packaged pig liver from the chilled fresh cabinet and a green packaged bacon from the refrigerated display case, followed by a downward waist rotation."}, {"start_frame": 855, "end_frame": 937, "action_text": "place the green packaged bacon into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the brown packaged pig liver and green packaged bacon, rotated its waist downward, and placed the pig liver into the shopping cart."}, {"start_frame": 937, "end_frame": 1035, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot picked up a brown packaged pig liver and a green packaged bacon from their respective storage locations and placed both items into the shopping cart."}, {"start_frame": 1035, "end_frame": 1136, "action_text": "pick up the green packaged bacon from the refrigerated display case", "skill": "Pick", "language_memory": "The robot picked up a brown packaged pig liver and a green packaged bacon from the chilled fresh cabinet and refrigerated display case, respectively, and placed both items into the shopping cart while adjusting its posture."}, {"start_frame": 1136, "end_frame": 1233, "action_text": "pick up the green packaged ham from the refrigerated display case", "skill": "Pick", "language_memory": "The robot retrieved brown packaged pig liver and green packaged bacon from the chilled fresh cabinet and refrigerated display case, respectively, and placed both items into the shopping cart."}, {"start_frame": 1233, "end_frame": 1362, "action_text": "bend the body downward while rotating the waist", "skill": "AdjustPosture", "language_memory": "The robot retrieved brown packaged pig liver, green packaged bacon, and green packaged ham from refrigerated displays and placed the pig liver and one instance of bacon into the shopping cart."}, {"start_frame": 1362, "end_frame": 1423, "action_text": "place the green packaged bacon into the shopping cart", "skill": "Place", "language_memory": "The robot has retrieved brown packaged pig liver, green packaged bacon, and green packaged ham from the chilled fresh cabinet and refrigerated display case, placing all items into the shopping cart."}, {"start_frame": 1423, "end_frame": 1495, "action_text": "place the green packaged ham into the shopping cart", "skill": "Place", "language_memory": "The robot has successfully retrieved brown packaged pig liver and multiple green packaged meat items (bacon and ham) from the chilled and refrigerated display cases and placed them into the shopping cart."}, {"start_frame": 1495, "end_frame": 1588, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot has successfully retrieved brown packaged pig liver and multiple green packaged meat items (bacon and ham) from the chilled fresh cabinet and refrigerated display case, placing all of them into the shopping cart."}, {"start_frame": 1588, "end_frame": 1623, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot has successfully retrieved and placed multiple packaged meat items, including pig liver, bacon, and ham, into the shopping cart."}], "detailed_task_instruction": ["Restock the shopping cart with packaged meats by first retrieving the brown packaged pig liver from the chilled fresh cabinet and placing it in the cart. Next, pick up the green packaged bacon from the refrigerated display case, rotate your waist downward, and place it in the cart. Then, bend your body downward while rotating your waist to pick up the green packaged ham from the refrigerated display case and place it into the cart. Adjust your robot posture as needed throughout the process to ensure smooth movement between locations."]}
{"task_id": "task_3400", "episode_index": 38, "video_path": "task_3400/videos/chunk-000/{video_key}/episode_000038.mp4", "tasks": ["Restocking the packaged toilet paper."], "length": 1582, "action_config": [{"start_frame": 0, "end_frame": 159, "action_text": "pick up the green packaged ham from the refrigerated display case", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 159, "end_frame": 300, "action_text": "pick up the green packaged ham from the refrigerated display case", "skill": "Pick", "language_memory": "The robot has picked up the green packaged ham from the refrigerated display case."}, {"start_frame": 300, "end_frame": 414, "action_text": "bend your body downward while rotating your waist", "skill": "AdjustPosture", "language_memory": "The robot picked up the green packaged ham from the refrigerated display case."}, {"start_frame": 414, "end_frame": 499, "action_text": "place the green packaged ham into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the green packaged ham from the refrigerated display case and bent its body downward while rotating its waist."}, {"start_frame": 499, "end_frame": 581, "action_text": "place the green packaged ham into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the green packaged ham from the refrigerated display case and placed it into the shopping cart."}, {"start_frame": 581, "end_frame": 695, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot picked up the green packaged ham from the refrigerated display case and placed it into the shopping cart."}, {"start_frame": 695, "end_frame": 812, "action_text": "pick up the green packaged bacon from the refrigerated display case", "skill": "Pick", "language_memory": "The robot picked up green packaged ham from the refrigerated display case and placed it into the shopping cart."}, {"start_frame": 812, "end_frame": 1199, "action_text": "pick up the green packaged ham from the refrigerated display case", "skill": "Pick", "language_memory": "The robot picked up green packaged ham and bacon from the refrigerated display case and placed the ham into the shopping cart."}, {"start_frame": 1199, "end_frame": 1304, "action_text": "bend your body downward while rotating your waist", "skill": "AdjustPosture", "language_memory": "The robot has picked up multiple green packaged items including ham and bacon from the refrigerated display case and placed them into the shopping cart."}, {"start_frame": 1304, "end_frame": 1384, "action_text": "place the green packaged bacon into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up multiple green packaged items including ham and bacon from the refrigerated display case and placed them into the shopping cart."}, {"start_frame": 1384, "end_frame": 1449, "action_text": "place the green packaged ham into the shopping cart", "skill": "Place", "language_memory": "The robot successfully retrieved multiple packages of green-packaged ham and bacon from the refrigerated display case and placed them into the shopping cart."}, {"start_frame": 1449, "end_frame": 1553, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot successfully retrieved multiple packages of green packaged ham and bacon from the refrigerated display case and placed them into the shopping cart."}, {"start_frame": 1553, "end_frame": 1581, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot successfully retrieved multiple packages of green packaged ham and bacon from the refrigerated display case and placed them into the shopping cart."}], "detailed_task_instruction": ["Restock the refrigerated section by retrieving green packaged ham and bacon from the display case. Begin by bending down with a waist rotation to pick up the first green packaged ham, then adjust your posture and place it into the shopping cart. Repeat this sequence for a second green packaged ham. Next, bend down again to pick up a green packaged bacon, adjust your posture, and place it in the cart. Finally, bend down one last time to retrieve another green packaged ham, adjust your posture, and place it into the shopping cart. Ensure all items are successfully transferred from the display case to the cart."]}
{"task_id": "task_3400", "episode_index": 39, "video_path": "task_3400/videos/chunk-000/{video_key}/episode_000039.mp4", "tasks": ["Restocking the packaged toilet paper."], "length": 1601, "action_config": [{"start_frame": 0, "end_frame": 163, "action_text": "pick up the green packaged ham from the chilled display case", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 163, "end_frame": 315, "action_text": "pick up the green packaged bacon from the refrigerated display case", "skill": "Pick", "language_memory": "The robot has picked up the green packaged ham from the chilled display case."}, {"start_frame": 315, "end_frame": 420, "action_text": "bend your body downward while rotating your waist", "skill": "AdjustPosture", "language_memory": "The robot has picked up the green packaged ham and bacon from the display cases."}, {"start_frame": 420, "end_frame": 501, "action_text": "place the green packaged ham into the shopping cart", "skill": "Place", "language_memory": "The robot has retrieved green packaged ham and bacon from the display cases and adjusted its posture by bending downward while rotating its waist."}, {"start_frame": 501, "end_frame": 577, "action_text": "place the green bag of bacon into the shopping cart", "skill": "Place", "language_memory": "The robot picked up green packaged ham and bacon from the display cases, adjusted its posture by bending downward while rotating its waist, and placed the ham into the shopping cart."}, {"start_frame": 577, "end_frame": 720, "action_text": "pick up the waist", "skill": "Pick", "language_memory": "The robot picked up green packaged ham and bacon from the display cases, adjusted its posture, and placed both items into the shopping cart."}, {"start_frame": 720, "end_frame": 956, "action_text": "pick up the brown packaged pig liver from the refrigerated display case", "skill": "Pick", "language_memory": "The robot picked up green packaged ham and bacon from display cases, placed them into the shopping cart, and adjusted its waist position."}, {"start_frame": 956, "end_frame": 1145, "action_text": "pick up the white packaged meat product from the refrigerated display case", "skill": "Pick", "language_memory": "The robot picked up green packaged ham and bacon, placed them into the shopping cart, and retrieved a brown packaged pig liver from the refrigerated display case."}, {"start_frame": 1145, "end_frame": 1263, "action_text": "bend your body downward while rotating your waist", "skill": "AdjustPosture", "language_memory": "The robot has successfully retrieved green packaged ham, green packaged bacon, brown packaged pig liver, and white packaged meat product from the display cases and placed them into the shopping cart."}, {"start_frame": 1263, "end_frame": 1340, "action_text": "place the brown bag of pig liver into the shopping cart", "skill": "Place", "language_memory": "The robot has successfully retrieved green packaged ham, green packaged bacon, brown packaged pig liver, and white packaged meat product from the display cases and placed them into the shopping cart."}, {"start_frame": 1340, "end_frame": 1441, "action_text": "place the white bagged meat product into the shopping cart", "skill": "Place", "language_memory": "The robot has successfully retrieved green packaged ham, green packaged bacon, brown packaged pig liver, and white packaged meat product from the display cases and placed all items into the shopping cart."}, {"start_frame": 1441, "end_frame": 1554, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot successfully retrieved green packaged ham, green packaged bacon, brown packaged pig liver, and white packaged meat product from the display cases and placed all items into the shopping cart."}, {"start_frame": 1554, "end_frame": 1600, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot successfully retrieved green packaged ham, green packaged bacon, brown packaged pig liver, and white packaged meat product from the refrigerated display case and placed all items into the shopping cart."}], "detailed_task_instruction": ["Restock the shopping cart with various packaged meat products by first picking up the green packaged ham from the chilled display case and placing it into the cart. Next, retrieve the green packaged bacon from the refrigerated display case and add it to the cart. Afterward, bend your body downward while rotating your waist to reach the brown packaged pig liver from the refrigerated display case and place it in the cart. Finally, pick up the white packaged meat product from the refrigerated display case and place it into the shopping cart. Adjust your posture as needed throughout the process to maintain balance and reach the items efficiently."]}
{"task_id": "task_3400", "episode_index": 40, "video_path": "task_3400/videos/chunk-000/{video_key}/episode_000040.mp4", "tasks": ["Restocking the packaged toilet paper."], "length": 1604, "action_config": [{"start_frame": 0, "end_frame": 286, "action_text": "pick up the green packaged ham from the refrigerated display case", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 286, "end_frame": 451, "action_text": "pick up the green packaged ham from the chilled display case", "skill": "Pick", "language_memory": "The robot has picked up the green packaged ham from the refrigerated display case."}, {"start_frame": 451, "end_frame": 551, "action_text": "bend the waist downward while rotating it", "skill": "AdjustPosture", "language_memory": "The robot has picked up the green packaged ham from the refrigerated and chilled display cases."}, {"start_frame": 551, "end_frame": 626, "action_text": "place the green packaged ham into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up green packaged ham from the refrigerated and chilled display cases and bent its waist downward while rotating."}, {"start_frame": 626, "end_frame": 696, "action_text": "place the green packaged ham into the shopping cart", "skill": "Place", "language_memory": "The robot picked up green packaged ham from the refrigerated and chilled display cases, bent its waist while rotating, and placed the ham into the shopping cart."}, {"start_frame": 696, "end_frame": 832, "action_text": "pick up the waist", "skill": "Pick", "language_memory": "The robot picked up green packaged ham from the refrigerated and chilled display cases, bent its waist while rotating, and placed the ham into the shopping cart."}, {"start_frame": 832, "end_frame": 995, "action_text": "pick up the green packaged ham from the chilled display case", "skill": "Pick", "language_memory": "The robot picked up green packaged ham from the refrigerated and chilled display cases, placed them into the shopping cart, and bent its waist downward while rotating."}, {"start_frame": 995, "end_frame": 1197, "action_text": "pick up the green packaged bacon from the refrigerated display case", "skill": "Pick", "language_memory": "The robot picked up green packaged ham from refrigerated and chilled display cases, placed them into the shopping cart, and adjusted its posture."}, {"start_frame": 1197, "end_frame": 1314, "action_text": "rotate the waist downward", "skill": "Rotate", "language_memory": "The robot picked up green packaged ham and bacon from refrigerated and chilled display cases, placed the ham into the shopping cart, and adjusted its posture."}, {"start_frame": 1314, "end_frame": 1378, "action_text": "place the green packaged ham into the shopping cart", "skill": "Place", "language_memory": "The robot successfully retrieved multiple packages of green ham and bacon from refrigerated and chilled display cases and placed them into the shopping cart."}, {"start_frame": 1378, "end_frame": 1455, "action_text": "place the green packaged bacon into the shopping cart", "skill": "Place", "language_memory": "The robot successfully retrieved multiple green packaged hams and a green packaged bacon from refrigerated and chilled display cases and placed them into the shopping cart."}, {"start_frame": 1455, "end_frame": 1557, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot successfully retrieved multiple packages of green ham and bacon from refrigerated and chilled display cases and placed them into the shopping cart."}, {"start_frame": 1557, "end_frame": 1603, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot successfully retrieved multiple packages of green ham and bacon from refrigerated and chilled display cases and placed them into the shopping cart, while adjusting its posture throughout the process."}], "detailed_task_instruction": ["Restock the refrigerated and chilled display cases by first picking up a green packaged ham from the refrigerated display case, bending the waist downward while rotating, and placing it into the shopping cart. Next, retrieve a green packaged ham from the chilled display case, adjust the robot posture, and place it in the cart. Then, pick up a green packaged bacon from the refrigerated display case, rotate the waist downward, and place the bacon into the shopping cart. Finally, adjust the robot posture to complete the restocking process."]}
{"task_id": "task_3400", "episode_index": 41, "video_path": "task_3400/videos/chunk-000/{video_key}/episode_000041.mp4", "tasks": ["Restocking the packaged toilet paper."], "length": 1576, "action_config": [{"start_frame": 0, "end_frame": 164, "action_text": "pick up the green packaged bacon from the refrigerated display case", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 164, "end_frame": 301, "action_text": "pick up the green packaged bacon from the refrigerated display case", "skill": "Pick", "language_memory": "The robot has picked up the green packaged bacon from the refrigerated display case."}, {"start_frame": 301, "end_frame": 431, "action_text": "bend your body downward while rotating your waist", "skill": "AdjustPosture", "language_memory": "The robot has picked up the green packaged bacon from the refrigerated display case."}, {"start_frame": 431, "end_frame": 494, "action_text": "place the green packaged bacon into the shopping cart", "skill": "Place", "language_memory": "The robot picked up green packaged bacon from the refrigerated display case and bent its body downward while rotating its waist."}, {"start_frame": 494, "end_frame": 569, "action_text": "place the green packaged bacon into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the green packaged bacon from the refrigerated display case and placed it into the shopping cart."}, {"start_frame": 569, "end_frame": 685, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot picked up green packaged bacon from the refrigerated display case and placed it into the shopping cart."}, {"start_frame": 685, "end_frame": 844, "action_text": "pick up the green packaged ham from the refrigerated display case", "skill": "Pick", "language_memory": "The robot picked up green packaged bacon from the refrigerated display case and placed it into the shopping cart."}, {"start_frame": 844, "end_frame": 1222, "action_text": "pick up the green packaged bacon from the refrigerated display case", "skill": "Pick", "language_memory": "The robot picked up green packaged bacon and ham from the refrigerated display case and placed the bacon into the shopping cart."}, {"start_frame": 1222, "end_frame": 1329, "action_text": "bend your body downward while rotating your waist", "skill": "AdjustPosture", "language_memory": "The robot picked up multiple green packaged items including bacon and ham from the refrigerated display case and placed them into the shopping cart."}, {"start_frame": 1329, "end_frame": 1381, "action_text": "place the green packaged bacon into the shopping cart", "skill": "Place", "language_memory": "The robot picked up multiple green packaged items including bacon and ham from the refrigerated display case and placed them into the shopping cart."}, {"start_frame": 1381, "end_frame": 1430, "action_text": "place the green packaged ham into the shopping cart", "skill": "Place", "language_memory": "The robot picked up multiple green packaged items including bacon and ham from the refrigerated display case and placed them into the shopping cart."}, {"start_frame": 1430, "end_frame": 1546, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot successfully retrieved multiple packages of green bacon and ham from the refrigerated display case and placed them into the shopping cart."}, {"start_frame": 1546, "end_frame": 1575, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot has successfully retrieved multiple packages of green-packaged bacon and ham from the refrigerated display case and placed them into the shopping cart."}], "detailed_task_instruction": ["Restock the refrigerated display case by picking up green packaged bacon and ham, bending your body downward while rotating your waist to reach the items, and placing them into the shopping cart. Adjust your robot posture as needed during the process."]}
{"task_id": "task_3400", "episode_index": 42, "video_path": "task_3400/videos/chunk-000/{video_key}/episode_000042.mp4", "tasks": ["Restocking the packaged toilet paper."], "length": 1669, "action_config": [{"start_frame": 28, "end_frame": 268, "action_text": "pick up the brown packaged pork liver", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 268, "end_frame": 498, "action_text": "pick up the green packaged bacon from the refrigerated display case", "skill": "Pick", "language_memory": "The robot has picked up the brown packaged pork liver."}, {"start_frame": 498, "end_frame": 610, "action_text": "bend your body downward while rotating your waist", "skill": "AdjustPosture", "language_memory": "The robot has picked up the brown packaged pork liver and the green packaged bacon from the refrigerated display case."}, {"start_frame": 610, "end_frame": 673, "action_text": "place the green bag of bacon into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up a brown packaged pork liver and a green packaged bacon from the refrigerated display case, and bent its body downward while rotating its waist."}, {"start_frame": 673, "end_frame": 732, "action_text": "place the brown bag of pig liver into the shopping cart", "skill": "Place", "language_memory": "The robot picked up a brown packaged pork liver and a green packaged bacon from the refrigerated display case, then placed the bacon into the shopping cart."}, {"start_frame": 732, "end_frame": 856, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot picked up a brown packaged pork liver and a green packaged bacon from the refrigerated display case, then placed both items into the shopping cart."}, {"start_frame": 856, "end_frame": 972, "action_text": "pick up the white packaged ham from the refrigerated display case", "skill": "Pick", "language_memory": "The robot picked up a brown packaged pork liver and a green packaged bacon from the refrigerated display case, then placed both items into the shopping cart while adjusting its posture."}, {"start_frame": 972, "end_frame": 1098, "action_text": "pick up the green packaged ham from the chilled display case", "skill": "Pick", "language_memory": "The robot has picked up and placed the brown packaged pork liver, green packaged bacon, and white packaged ham into the shopping cart, while adjusting its posture during the process."}, {"start_frame": 1098, "end_frame": 1223, "action_text": "bend your body downward while rotating your waist", "skill": "AdjustPosture", "language_memory": "The robot has picked up and placed brown packaged pork liver, green packaged bacon, white packaged ham, and green packaged ham into the shopping cart, while adjusting its posture during the process."}, {"start_frame": 1223, "end_frame": 1308, "action_text": "place the green bagged ham into the shopping cart", "skill": "Place", "language_memory": "The robot has successfully retrieved and placed multiple packaged meat items, including pork liver, bacon, and ham, into the shopping cart."}, {"start_frame": 1308, "end_frame": 1385, "action_text": "place the white packaged ham into the shopping cart", "skill": "Place", "language_memory": "The robot has successfully retrieved and placed multiple packaged meat items, including pork liver, bacon, and ham, into the shopping cart."}, {"start_frame": 1385, "end_frame": 1525, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot has successfully retrieved and placed multiple packaged meat items, including pork liver, bacon, and ham, into the shopping cart."}, {"start_frame": 1525, "end_frame": 1595, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot has successfully retrieved and placed multiple packaged meat items, including pork liver, bacon, and ham, into the shopping cart."}], "detailed_task_instruction": ["Restock the refrigerated display cases by first picking up the brown packaged pork liver and the green packaged bacon, bending your body downward while rotating your waist to reach, and placing both items into the shopping cart. Next, retrieve the white packaged ham and the green packaged ham from the chilled display case, again bending your body downward while rotating your waist, and place these two ham packages into the shopping cart. Adjust your robot posture as needed between these actions to maintain stability and reach the items effectively."]}
{"task_id": "task_3400", "episode_index": 43, "video_path": "task_3400/videos/chunk-000/{video_key}/episode_000043.mp4", "tasks": ["Restocking the packaged toilet paper."], "length": 2124, "action_config": [{"start_frame": 0, "end_frame": 139, "action_text": "bend your body downward while rotating your waist", "skill": "AdjustPosture", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 139, "end_frame": 271, "action_text": "pick up the white bagged bacon from the shopping cart", "skill": "Pick", "language_memory": "The robot bent its body downward while rotating its waist."}, {"start_frame": 271, "end_frame": 505, "action_text": "pick up the green packaged ham from the shopping cart", "skill": "Pick", "language_memory": "The robot bent downward while rotating its waist and picked up the white bagged bacon from the shopping cart."}, {"start_frame": 505, "end_frame": 627, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot bent downward while rotating its waist, picked up the white bagged bacon, and picked up the green packaged ham from the shopping cart."}, {"start_frame": 627, "end_frame": 737, "action_text": "place the green bagged ham in the chilled display case", "skill": "Place", "language_memory": "The robot bent downward while rotating its waist, picked up the white bagged bacon and green packaged ham from the shopping cart, and adjusted its posture."}, {"start_frame": 737, "end_frame": 847, "action_text": "place the green packaged ham on the target", "skill": "Place", "language_memory": "The robot bent downward, rotated its waist, picked up white bagged bacon and green packaged ham from the shopping cart, adjusted its posture, and placed the green bagged ham in the chilled display case."}, {"start_frame": 847, "end_frame": 1071, "action_text": "place the white packaged bacon on the designated spot in the chilled display case", "skill": "Place", "language_memory": "The robot bent downward, picked up white bagged bacon and green packaged ham from the shopping cart, adjusted its posture, and placed the green packaged ham in the chilled display case and on the target."}, {"start_frame": 1071, "end_frame": 1176, "action_text": "bend the body downward while rotating the waist", "skill": "AdjustPosture", "language_memory": "The robot picked up white bagged bacon and green packaged ham from the shopping cart and placed both items in the chilled display case."}, {"start_frame": 1176, "end_frame": 1345, "action_text": "pick up the white bagged bacon from the shopping cart", "skill": "Pick", "language_memory": "The robot picked up white bagged bacon and green packaged ham from the shopping cart and placed them in the chilled display case."}, {"start_frame": 1345, "end_frame": 1479, "action_text": "pick up the red packaged ham from the shopping cart", "skill": "Pick", "language_memory": "The robot picked up white bagged bacon and green packaged ham from the shopping cart and placed them in the chilled display case."}, {"start_frame": 1479, "end_frame": 1594, "action_text": "raise your waist while rotating it", "skill": "AdjustPosture", "language_memory": "The robot has picked up white bagged bacon and green and red packaged ham from the shopping cart, adjusted its posture, and placed the green and white packaged meats into the chilled display case."}, {"start_frame": 1594, "end_frame": 1724, "action_text": "place the red packaged ham on the designated spot in the chilled display case", "skill": "Place", "language_memory": "The robot has retrieved white bagged bacon and green and red packaged ham from the shopping cart and placed them in the chilled display case."}, {"start_frame": 1724, "end_frame": 1902, "action_text": "place the white bagged bacon in the chilled display case", "skill": "Place", "language_memory": "The robot has successfully retrieved white bagged bacon, green packaged ham, and red packaged ham from the shopping cart and placed all three items into the chilled display case."}, {"start_frame": 1902, "end_frame": 2123, "action_text": "pick up the white packaged bacon", "skill": "Pick", "language_memory": "The robot has successfully retrieved white bagged bacon, green packaged ham, and red packaged ham from the shopping cart and placed all items into the chilled display case."}], "detailed_task_instruction": ["Restock the chilled display case by first bending downward and rotating your waist to pick up the white bagged bacon from the shopping cart, then adjusting your posture to place it in the chilled display case. Next, bend downward again to retrieve the green packaged ham, adjust your posture, and place it on the target within the chilled display case. Finally, bend downward one last time to pick up the red packaged ham, raise your waist while rotating it, and place the red ham on its designated spot in the chilled display case. Ensure all items are securely positioned in their respective locations within the case."]}
{"task_id": "task_3400", "episode_index": 44, "video_path": "task_3400/videos/chunk-000/{video_key}/episode_000044.mp4", "tasks": ["Restocking the packaged toilet paper."], "length": 1829, "action_config": [{"start_frame": 0, "end_frame": 139, "action_text": "bend your body downward while rotating your waist", "skill": "AdjustPosture", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 139, "end_frame": 256, "action_text": "pick up the green packaged bacon from the shopping cart", "skill": "Pick", "language_memory": "The robot bent its body downward while rotating its waist."}, {"start_frame": 256, "end_frame": 389, "action_text": "pick up the green packaged bacon from the shopping cart", "skill": "Pick", "language_memory": "The robot bent downward while rotating its waist and picked up the green packaged bacon from the shopping cart."}, {"start_frame": 389, "end_frame": 517, "action_text": "pick up the waist", "skill": "Pick", "language_memory": "The robot bent downward while rotating its waist and picked up the green packaged bacon from the shopping cart."}, {"start_frame": 517, "end_frame": 669, "action_text": "place the green packaged bacon on the refrigerated shelf", "skill": "Place", "language_memory": "The robot bent downward, rotated its waist, and picked up green packaged bacon from the shopping cart."}, {"start_frame": 669, "end_frame": 891, "action_text": "place the green packaged bacon in the corresponding position on the refrigerated display case", "skill": "Place", "language_memory": "The robot bent downward, rotated its waist, picked up the green packaged bacon from the shopping cart, and placed it on the refrigerated shelf."}, {"start_frame": 891, "end_frame": 1014, "action_text": "bend your body downward while rotating your waist", "skill": "AdjustPosture", "language_memory": "The robot bent downward, rotated its waist, picked up green packaged bacon from the shopping cart, and placed it on the refrigerated shelf in the corresponding position."}, {"start_frame": 1014, "end_frame": 1200, "action_text": "pick up the green packaged bacon from the shopping cart", "skill": "Pick", "language_memory": "The robot bent downward, rotated its waist, picked up green packaged bacon from the shopping cart, and placed it on the refrigerated shelf and display case."}, {"start_frame": 1200, "end_frame": 1343, "action_text": "pick up the brown packaged pig liver from the shopping cart", "skill": "Pick", "language_memory": "The robot has picked up multiple green packaged bacon items from the shopping cart and placed them on the refrigerated shelf and display case."}, {"start_frame": 1343, "end_frame": 1465, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot has picked up multiple packages of green bacon and brown pig liver from the shopping cart and placed the bacon on the refrigerated shelf and display case."}, {"start_frame": 1465, "end_frame": 1595, "action_text": "place the brown bagged pig liver on the fresh refrigerated shelf", "skill": "Place", "language_memory": "The robot picked up green packaged bacon and brown packaged pig liver from the shopping cart and placed them on the refrigerated shelf."}, {"start_frame": 1595, "end_frame": 1760, "action_text": "place the green packaged bacon in the refrigerated cabinet", "skill": "Place", "language_memory": "The robot has restocked green packaged bacon and brown packaged pig liver onto the refrigerated shelves."}, {"start_frame": 1760, "end_frame": 1828, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot has successfully restocked green packaged bacon and brown packaged pig liver onto the refrigerated shelves."}], "detailed_task_instruction": ["Restock the refrigerated section by first bending your body downward while rotating your waist to pick up a green packaged bacon item from the shopping cart, then placing it on the refrigerated shelf and adjusting the robot posture. Repeat this process to place a second green packaged bacon item in the corresponding position on the refrigerated display case. Next, bend your body downward again to pick up a brown packaged pig liver from the shopping cart, adjust your posture, and finally place the pig liver on the fresh refrigerated shelf. Ensure all items are positioned correctly within their designated refrigerated areas."]}
{"task_id": "task_3400", "episode_index": 45, "video_path": "task_3400/videos/chunk-000/{video_key}/episode_000045.mp4", "tasks": ["Restocking the packaged toilet paper."], "length": 2389, "action_config": [{"start_frame": 0, "end_frame": 122, "action_text": "bend your body downward while rotating your waist", "skill": "AdjustPosture", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 122, "end_frame": 278, "action_text": "pick up the green packaged bacon from the shopping cart", "skill": "Pick", "language_memory": "The robot bent its body downward while rotating its waist."}, {"start_frame": 278, "end_frame": 477, "action_text": "pick up the green packaged ham from the shopping cart", "skill": "Pick", "language_memory": "The robot bent downward while rotating its waist and picked up the green packaged bacon from the shopping cart."}, {"start_frame": 477, "end_frame": 581, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot bent downward while rotating its waist and picked up green packaged bacon and ham from the shopping cart."}, {"start_frame": 581, "end_frame": 734, "action_text": "place the green packaged ham in the refrigerated display case", "skill": "Place", "language_memory": "The robot bent downward while rotating its waist, picked up green packaged bacon and ham from the shopping cart, and adjusted its posture."}, {"start_frame": 734, "end_frame": 1101, "action_text": "place the green packaged ham on the target", "skill": "Place", "language_memory": "The robot bent downward, rotated its waist, adjusted its posture, and placed the green packaged ham into the refrigerated display case."}, {"start_frame": 1101, "end_frame": 1271, "action_text": "place the green packaged bacon on the refrigerated display cabinet", "skill": "Place", "language_memory": "The robot bent downward, rotated its waist, adjusted its posture, and successfully placed the green packaged ham into the refrigerated display case and onto the target."}, {"start_frame": 1271, "end_frame": 1384, "action_text": "bend your body downward while rotating your waist", "skill": "AdjustPosture", "language_memory": "The robot bent downward, picked up green packaged bacon and ham from the shopping cart, adjusted its posture, and placed both items on the refrigerated display case."}, {"start_frame": 1384, "end_frame": 1591, "action_text": "pick up the green packaged ham from the shopping cart", "skill": "Pick", "language_memory": "The robot bent downward, picked up green packaged bacon and ham from the shopping cart, adjusted its posture, and placed both items onto the refrigerated display case."}, {"start_frame": 1591, "end_frame": 1742, "action_text": "pick up the green packaged bacon from the shopping cart", "skill": "Pick", "language_memory": "The robot bent downward, picked up green packaged bacon and ham from the shopping cart, adjusted its posture, and placed the green packaged ham and bacon into the refrigerated display case."}, {"start_frame": 1742, "end_frame": 1847, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot has picked up multiple packages of green packaged bacon and ham from the shopping cart and placed them onto the refrigerated display case and target."}, {"start_frame": 1847, "end_frame": 1971, "action_text": "place the green packaged ham in the refrigerated display case", "skill": "Place", "language_memory": "The robot has adjusted its posture, bent downward while rotating its waist, and successfully placed green packaged ham and bacon onto the refrigerated display case and target from the shopping cart."}, {"start_frame": 1971, "end_frame": 2106, "action_text": "hand over the green bag of bacon", "skill": "Handover", "language_memory": "The robot has successfully restocked multiple green packaged items, including bacon and ham, by picking them from the shopping cart and placing them into the refrigerated display case."}, {"start_frame": 2106, "end_frame": 2347, "action_text": "place the green packaged bacon on the refrigerated shelf", "skill": "Place", "language_memory": "The robot has successfully restocked the refrigerated display case with multiple packages of green packaged ham and bacon by retrieving them from the shopping cart and placing them on the target or cabinet."}, {"start_frame": 2347, "end_frame": 2388, "action_text": "place the reset position", "skill": "Place", "language_memory": "The robot has successfully restocked multiple green packaged items, including bacon and ham, by picking them from the shopping cart and placing them onto refrigerated display cases and shelves."}], "detailed_task_instruction": ["Restock the refrigerated display case and shelf with green packaged meat products. Begin by bending down and rotating your waist to pick up a green packaged ham and a green packaged bacon from the shopping cart. Adjust your robot posture, then place the ham in the refrigerated display case and the bacon on the refrigerated display cabinet. Repeat this sequence by bending down and rotating your waist again to retrieve another green packaged ham and green packaged bacon from the cart. After adjusting your posture once more, place the second ham in the refrigerated display case and the second bacon on the refrigerated shelf. Finally, hand over the green bag of bacon and return to the reset position."]}
{"task_id": "task_3400", "episode_index": 46, "video_path": "task_3400/videos/chunk-000/{video_key}/episode_000046.mp4", "tasks": ["Restocking the packaged toilet paper."], "length": 2184, "action_config": [{"start_frame": 0, "end_frame": 142, "action_text": "bend the body downward while rotating the waist", "skill": "AdjustPosture", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 142, "end_frame": 393, "action_text": "pick up the green packaged bacon from the shopping cart", "skill": "Pick", "language_memory": "The robot bent its body downward while rotating its waist."}, {"start_frame": 393, "end_frame": 528, "action_text": "pick up the green packaged bacon from the shopping cart", "skill": "Pick", "language_memory": "The robot bent its body downward while rotating its waist and picked up the green packaged bacon from the shopping cart."}, {"start_frame": 528, "end_frame": 681, "action_text": "pick up the green packaged bacon from the shopping cart", "skill": "Pick", "language_memory": "The robot bent its body downward while rotating its waist and picked up the green packaged bacon from the shopping cart."}, {"start_frame": 681, "end_frame": 776, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot bent its body downward while rotating its waist and picked up multiple green packaged bacon items from the shopping cart."}, {"start_frame": 776, "end_frame": 957, "action_text": "place the green bagged bacon in the refrigerated cabinet", "skill": "Place", "language_memory": "The robot bent its body downward while rotating its waist, picked up multiple green packaged bacon items from the shopping cart, and adjusted its posture."}, {"start_frame": 957, "end_frame": 1165, "action_text": "place the green packaged bacon on the refrigerated shelf", "skill": "Place", "language_memory": "The robot bent downward, rotated its waist, picked up multiple green packaged bacons from the shopping cart, adjusted its posture, and placed the green bagged bacon in the refrigerated cabinet."}, {"start_frame": 1165, "end_frame": 1268, "action_text": "place the green packaged bacon on the target", "skill": "Place", "language_memory": "The robot bent its body downward, rotated its waist, and placed multiple green packaged bacon items into the refrigerated cabinet and onto the shelf."}, {"start_frame": 1268, "end_frame": 1383, "action_text": "bend the waist downward while rotating it", "skill": "AdjustPosture", "language_memory": "The robot bent its body, picked up multiple green packaged bacon items from the shopping cart, adjusted its posture, and placed the bacon into the refrigerated cabinet and on the target shelf."}, {"start_frame": 1383, "end_frame": 1570, "action_text": "pick up the white packaged meat product from the shopping cart", "skill": "Pick", "language_memory": "The robot bent its body downward, picked up green packaged bacon from the shopping cart, adjusted its posture, and placed the bacon in the refrigerated cabinet."}, {"start_frame": 1570, "end_frame": 1713, "action_text": "pick up the brown packaged pig liver from the shopping cart", "skill": "Pick", "language_memory": "The robot bent its body, picked up multiple green packaged bacon items from the shopping cart, adjusted its posture, and placed them in the refrigerated cabinet and on the target, then bent its waist again and picked up a white packaged meat product from the shopping cart."}, {"start_frame": 1713, "end_frame": 1818, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot bent its body, picked up multiple green packaged bacon items and placed them in the refrigerated cabinet, and retrieved white packaged meat and brown packaged pig liver from the shopping cart."}, {"start_frame": 1818, "end_frame": 1971, "action_text": "place the brown bagged pig liver on the fresh produce cooler", "skill": "Place", "language_memory": "The robot adjusted its posture, bent downward while rotating its waist, and successfully picked up and placed multiple green packaged bacon items into the refrigerated cabinet, as well as picking up a white packaged meat product and a brown packaged pig liver from the shopping cart."}, {"start_frame": 1971, "end_frame": 2158, "action_text": "place the white bagged meat product on the designated spot for white bagged meat products in the chilled display cabinet", "skill": "Place", "language_memory": "The robot bent its body, picked up multiple green packaged bacon items and placed them in the refrigerated cabinet, picked up a white packaged meat product and a brown packaged pig liver, and placed the pig liver on the fresh produce cooler."}, {"start_frame": 2158, "end_frame": 2183, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot bent its body, picked up green packaged bacon, white packaged meat, and brown packaged pig liver from the shopping cart, and placed them into the refrigerated cabinet, fresh produce cooler, and designated spots in the chilled display cabinet."}], "detailed_task_instruction": ["Restock the refrigerated and fresh produce sections by first bending down and rotating your waist to pick up three green packaged bacon items from the shopping cart, then adjusting your posture to place them on the refrigerated shelf and target within the refrigerated cabinet. Next, bend your waist downward again to retrieve a white packaged meat product and a brown packaged pig liver from the cart, adjust your posture, and finally place the brown pig liver on the fresh produce cooler and the white meat product on its designated spot in the chilled display cabinet."]}
{"task_id": "task_3400", "episode_index": 47, "video_path": "task_3400/videos/chunk-000/{video_key}/episode_000047.mp4", "tasks": ["Restocking the packaged toilet paper."], "length": 2505, "action_config": [{"start_frame": 0, "end_frame": 137, "action_text": "bend your body downward while rotating your waist", "skill": "AdjustPosture", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 137, "end_frame": 309, "action_text": "pick up the green packaged bacon from the shopping cart", "skill": "Pick", "language_memory": "The robot bent its body downward while rotating its waist."}, {"start_frame": 309, "end_frame": 556, "action_text": "pick up the green packaged ham from the shopping cart", "skill": "Pick", "language_memory": "The robot bent downward while rotating its waist and picked up the green packaged bacon from the shopping cart."}, {"start_frame": 556, "end_frame": 659, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot bent downward while rotating its waist and picked up green packaged bacon and ham from the shopping cart."}, {"start_frame": 659, "end_frame": 790, "action_text": "place the green packaged ham into the chilled display case", "skill": "Place", "language_memory": "The robot bent downward while rotating its waist, picked up green packaged bacon and ham from the shopping cart, and adjusted its posture."}, {"start_frame": 790, "end_frame": 1023, "action_text": "place the green packaged bacon in the corresponding position on the refrigerated display case", "skill": "Place", "language_memory": "The robot bent downward, rotated its waist, adjusted its posture, and placed the green packaged ham into the chilled display case."}, {"start_frame": 1023, "end_frame": 1127, "action_text": "bend your body downward while rotating your waist", "skill": "AdjustPosture", "language_memory": "The robot bent downward, rotated its waist, adjusted its posture, and placed both the green packaged bacon and ham into the refrigerated display case."}, {"start_frame": 1127, "end_frame": 1306, "action_text": "pick up the green packaged ham from the shopping cart", "skill": "Pick", "language_memory": "The robot bent downward, picked up green packaged bacon and ham from the shopping cart, adjusted its posture, and placed both items into the refrigerated display case."}, {"start_frame": 1306, "end_frame": 1734, "action_text": "pick up the red packaged ham from the shopping cart", "skill": "Pick", "language_memory": "The robot bent down, rotated its waist, picked up green packaged bacon and ham from the shopping cart, adjusted its posture, and placed the green packaged ham and bacon into the chilled display case."}, {"start_frame": 1734, "end_frame": 1790, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot has bent down, rotated its waist, and picked up multiple packages of green and red ham and green bacon from the shopping cart, subsequently placing the green ham and green bacon into the chilled and refrigerated display cases respectively."}, {"start_frame": 1790, "end_frame": 1921, "action_text": "pick up the red packaged ham from the shopping cart", "skill": "Pick", "language_memory": "The robot has picked up multiple packages of bacon and ham from the shopping cart and placed them into the chilled and refrigerated display cases."}, {"start_frame": 1921, "end_frame": 2036, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot has picked up multiple packages of green and red ham and bacon from the shopping cart and placed them into the chilled and refrigerated display cases."}, {"start_frame": 2036, "end_frame": 2161, "action_text": "place the green packaged ham in the refrigerated display case", "skill": "Place", "language_memory": "The robot has picked up multiple packages of green and red ham and bacon from the shopping cart and placed them into the chilled and refrigerated display cases."}, {"start_frame": 2161, "end_frame": 2272, "action_text": "hand over the red packaged ham", "skill": "Handover", "language_memory": "The robot has bent down multiple times to pick up green and red packaged hams and bacon from the shopping cart and placed them into the refrigerated display case."}, {"start_frame": 2272, "end_frame": 2441, "action_text": "place the red packaged ham in the refrigerated display case", "skill": "Place", "language_memory": "The robot has bent down multiple times to pick up green and red packaged hams and bacon from the shopping cart, adjusted its posture, and placed the green packaged hams and bacon into the refrigerated display case while handing over the red packaged ham."}, {"start_frame": 2441, "end_frame": 2504, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot has successfully retrieved multiple packages of green and red ham from the shopping cart and placed them into the refrigerated display case."}], "detailed_task_instruction": ["Restock the refrigerated display case with packaged meats by first bending down and rotating your waist to pick up the green packaged bacon and the first green packaged ham from the shopping cart. Adjust your posture, then place the green packaged ham into the chilled display case followed by the green packaged bacon in its corresponding position. Next, bend down again to retrieve the second green packaged ham and the red packaged ham from the cart. After adjusting your posture, place the second green packaged ham into the refrigerated display case. Finally, hand over the red packaged ham and place it in the refrigerated display case to complete the restocking process."]}
{"task_id": "task_3400", "episode_index": 48, "video_path": "task_3400/videos/chunk-000/{video_key}/episode_000048.mp4", "tasks": ["Restocking the packaged toilet paper."], "length": 1854, "action_config": [{"start_frame": 0, "end_frame": 112, "action_text": "bend your body downward while rotating your waist", "skill": "AdjustPosture", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 112, "end_frame": 265, "action_text": "pick up the green packaged bacon from the shopping cart", "skill": "Pick", "language_memory": "The robot bent its body downward while rotating its waist."}, {"start_frame": 265, "end_frame": 428, "action_text": "pick up the brown bagged pork liver from the shopping cart", "skill": "Pick", "language_memory": "The robot bent downward while rotating its waist and picked up the green packaged bacon from the shopping cart."}, {"start_frame": 428, "end_frame": 560, "action_text": "the input action text describes a body movement (\"lift your waist while rotating it\") rather than a manipulation task involving an object to be picked up or placed. therefore, it cannot be rewritten into the specified \"pick up the x\" or \"place the x...\" format without inventing objects or actions, which violates the rules. no valid output sentence can be generated", "skill": "Pick", "language_memory": "The robot bent downward while rotating its waist, then picked up the green packaged bacon and the brown bagged pork liver from the shopping cart."}, {"start_frame": 560, "end_frame": 755, "action_text": "place the green bagged bacon on the cold storage shelf", "skill": "Place", "language_memory": "The robot has bent downward while rotating its waist and picked up the green packaged bacon and brown bagged pork liver from the shopping cart."}, {"start_frame": 755, "end_frame": 949, "action_text": "place the brown bag of pig liver in the fresh produce cooler", "skill": "Place", "language_memory": "The robot has picked up the green packaged bacon and brown bagged pork liver from the shopping cart and placed the green bagged bacon on the cold storage shelf."}, {"start_frame": 949, "end_frame": 1061, "action_text": "bend the waist downward while rotating it", "skill": "AdjustPosture", "language_memory": "The robot has picked up green packaged bacon and brown bagged pork liver from the shopping cart and placed them on the cold storage shelf and in the fresh produce cooler, respectively."}, {"start_frame": 1061, "end_frame": 1227, "action_text": "pick up the white packaged ham from the shopping cart", "skill": "Pick", "language_memory": "The robot bent downward while rotating its waist, picked up green packaged bacon and brown bagged pork liver from the shopping cart, and placed them respectively on the cold storage shelf and in the fresh produce cooler."}, {"start_frame": 1227, "end_frame": 1419, "action_text": "pick up the green packaged ham from the shopping cart", "skill": "Pick", "language_memory": "The robot has picked up green packaged bacon, brown bagged pork liver, and white packaged ham from the shopping cart, and placed the bacon on the cold storage shelf and the pork liver in the fresh produce cooler."}, {"start_frame": 1419, "end_frame": 1528, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot has picked up green and brown packaged meats from the shopping cart and placed them on the cold storage shelf and fresh produce cooler, while also bending and rotating its waist."}, {"start_frame": 1528, "end_frame": 1682, "action_text": "place the green packaged ham in the refrigerated display case", "skill": "Place", "language_memory": "The robot has picked up green packaged bacon, brown bagged pork liver, white packaged ham, and green packaged ham from the shopping cart, and placed the bacon on the cold storage shelf and the pork liver in the fresh produce cooler."}, {"start_frame": 1682, "end_frame": 1811, "action_text": "place the white packaged ham in the refrigerated display case", "skill": "Place", "language_memory": "The robot has picked up green packaged bacon, brown bagged pork liver, white packaged ham, and green packaged ham from the shopping cart, and placed the bacon on the cold storage shelf, the pork liver in the fresh produce cooler, and the green packaged ham in the refrigerated display case."}, {"start_frame": 1811, "end_frame": 1853, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot has picked up and placed green and brown packaged meats into the cold storage and fresh produce coolers, and placed white and green packaged hams into the refrigerated display case."}], "detailed_task_instruction": ["Restock the packaged meats by first picking up the green packaged bacon and the brown bagged pork liver from the shopping cart, then placing the bacon on the cold storage shelf and the pork liver in the fresh produce cooler. Next, pick up the white packaged ham and the green packaged ham from the shopping cart, and finally place both ham packages in the refrigerated display case."]}
{"task_id": "task_3400", "episode_index": 49, "video_path": "task_3400/videos/chunk-000/{video_key}/episode_000049.mp4", "tasks": ["Restocking the packaged toilet paper."], "length": 1438, "action_config": [{"start_frame": 23, "end_frame": 171, "action_text": "pick up the green packaged ham from the refrigerated display case", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 171, "end_frame": 313, "action_text": "pick up the green packaged ham from the refrigerated display case", "skill": "Pick", "language_memory": "The robot has picked up the green packaged ham from the refrigerated display case."}, {"start_frame": 313, "end_frame": 432, "action_text": "bend the body downward while rotating the waist", "skill": "AdjustPosture", "language_memory": "The robot picked up the green packaged ham from the refrigerated display case."}, {"start_frame": 432, "end_frame": 526, "action_text": "place the green packaged ham into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up green packaged ham from the refrigerated display case and bent its body downward while rotating its waist."}, {"start_frame": 526, "end_frame": 610, "action_text": "place the green packaged ham into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the green packaged ham from the refrigerated display case and placed it into the shopping cart."}, {"start_frame": 610, "end_frame": 722, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot picked up the green packaged ham from the refrigerated display case and placed it into the shopping cart."}, {"start_frame": 722, "end_frame": 863, "action_text": "pick up the green packaged ham from the chilled display case", "skill": "Pick", "language_memory": "The robot successfully picked up green packaged ham from the refrigerated display case and placed it into the shopping cart, followed by a posture adjustment."}, {"start_frame": 863, "end_frame": 993, "action_text": "pick up the green packaged bacon from the refrigerated display case", "skill": "Pick", "language_memory": "The robot has picked up multiple green packaged hams from the refrigerated display case and placed them into the shopping cart."}, {"start_frame": 993, "end_frame": 1118, "action_text": "bend your body downward while rotating your waist", "skill": "AdjustPosture", "language_memory": "The robot has picked up multiple packages of ham and bacon from refrigerated display cases and placed them into the shopping cart."}, {"start_frame": 1118, "end_frame": 1208, "action_text": "place the green packaged ham into the shopping cart", "skill": "Place", "language_memory": "The robot has successfully retrieved multiple packages of green ham and bacon from refrigerated display cases and placed them into the shopping cart."}, {"start_frame": 1208, "end_frame": 1286, "action_text": "place the green bag of bacon into the shopping cart", "skill": "Place", "language_memory": "The robot has successfully retrieved multiple packages of green ham and bacon from refrigerated display cases and placed them into the shopping cart."}, {"start_frame": 1286, "end_frame": 1413, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot successfully retrieved multiple packages of green ham and bacon from refrigerated display cases and placed them into the shopping cart."}, {"start_frame": 1413, "end_frame": 1437, "action_text": "place the reset position", "skill": "Place", "language_memory": "The robot has successfully retrieved multiple packages of green ham and bacon from refrigerated display cases and placed them into the shopping cart."}], "detailed_task_instruction": ["Restock the shopping cart by first picking up a green packaged ham from the refrigerated display case, bending downward while rotating your waist to place it in the cart, and adjusting your posture. Repeat this sequence to pick up and place a second green packaged ham into the cart. Next, pick up a green packaged bacon from the refrigerated display case, bend downward while rotating your waist to place it in the cart, and adjust your posture once more. Finally, return to the reset position."]}
{"task_id": "task_3400", "episode_index": 50, "video_path": "task_3400/videos/chunk-000/{video_key}/episode_000050.mp4", "tasks": ["Restocking the packaged toilet paper."], "length": 1501, "action_config": [{"start_frame": 22, "end_frame": 171, "action_text": "pick up the brown packaged pig liver from the chilled fresh cabinet", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 171, "end_frame": 332, "action_text": "pick up the white packaged bacon from the chilled display case", "skill": "Pick", "language_memory": "The robot has picked up the brown packaged pig liver from the chilled fresh cabinet."}, {"start_frame": 332, "end_frame": 438, "action_text": "bend the body downward while rotating the waist", "skill": "AdjustPosture", "language_memory": "The robot has picked up the brown packaged pig liver from the chilled fresh cabinet and the white packaged bacon from the chilled display case."}, {"start_frame": 438, "end_frame": 514, "action_text": "place the brown bag of pig liver into the shopping cart", "skill": "Place", "language_memory": "The robot has retrieved a brown packaged pig liver from the chilled fresh cabinet and a white packaged bacon from the chilled display case, while also bending its body downward and rotating its waist."}, {"start_frame": 514, "end_frame": 586, "action_text": "place the white packaged bacon into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the brown packaged pig liver and white packaged bacon, then placed the pig liver into the shopping cart."}, {"start_frame": 586, "end_frame": 711, "action_text": "pick up the waist", "skill": "Pick", "language_memory": "The robot picked up a brown packaged pig liver and a white packaged bacon from the chilled areas and placed both items into the shopping cart."}, {"start_frame": 711, "end_frame": 855, "action_text": "pick up the green packaged bacon from the refrigerated display case", "skill": "Pick", "language_memory": "The robot picked up a brown packaged pig liver and a white packaged bacon from the chilled areas, placed both items into the shopping cart, and adjusted its posture by bending downward and rotating the waist."}, {"start_frame": 855, "end_frame": 997, "action_text": "pick up the green packaged ham from the refrigerated display case", "skill": "Pick", "language_memory": "The robot has picked up brown packaged pig liver, white packaged bacon, and green packaged bacon from various refrigerated locations and placed the pig liver and white bacon into the shopping cart."}, {"start_frame": 997, "end_frame": 1104, "action_text": "bend your body downward while rotating your waist", "skill": "AdjustPosture", "language_memory": "The robot has picked up brown packaged pig liver, white and green packaged bacon, and green packaged ham from various chilled display cases and placed the pig liver and white bacon into the shopping cart."}, {"start_frame": 1104, "end_frame": 1179, "action_text": "place the green bag of bacon into the shopping cart", "skill": "Place", "language_memory": "The robot has successfully retrieved brown packaged pig liver, white packaged bacon, green packaged bacon, and green packaged ham from various chilled display cases and placed all items into the shopping cart."}, {"start_frame": 1179, "end_frame": 1263, "action_text": "place the green packaged ham into the shopping cart", "skill": "Place", "language_memory": "The robot has successfully retrieved brown packaged pig liver, white packaged bacon, green packaged bacon, and green packaged ham from various display cases and placed all items into the shopping cart."}, {"start_frame": 1263, "end_frame": 1397, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot has successfully retrieved brown packaged pig liver, white packaged bacon, green packaged bacon, and green packaged ham from various display cases and placed all items into the shopping cart."}, {"start_frame": 1397, "end_frame": 1500, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot has successfully retrieved brown packaged pig liver, white packaged bacon, green packaged bacon, and green packaged ham from various display cases and placed all items into the shopping cart."}], "detailed_task_instruction": ["The task goal is to restock packaged meat products, not toilet paper. Retrieve the brown packaged pig liver from the chilled fresh cabinet and the white packaged bacon from the chilled display case. Bend downward while rotating the waist to place both items into the shopping cart. Next, pick up the waist, then retrieve the green packaged bacon and green packaged ham from the refrigerated display case. Bend downward again while rotating the waist to place these items into the shopping cart. Finally, adjust the robot posture to complete the sequence."]}
{"task_id": "task_3400", "episode_index": 51, "video_path": "task_3400/videos/chunk-000/{video_key}/episode_000051.mp4", "tasks": ["Restocking the packaged toilet paper."], "length": 1760, "action_config": [{"start_frame": 25, "end_frame": 175, "action_text": "pick up the green packaged bacon from the refrigerated display case", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 175, "end_frame": 367, "action_text": "pick up the green packaged ham from the refrigerated display case", "skill": "Pick", "language_memory": "The robot has picked up the green packaged bacon from the refrigerated display case."}, {"start_frame": 367, "end_frame": 497, "action_text": "bend your body downward while rotating your waist", "skill": "AdjustPosture", "language_memory": "The robot has retrieved the green packaged bacon and ham from the refrigerated display case."}, {"start_frame": 497, "end_frame": 568, "action_text": "place the green packaged ham into the shopping cart", "skill": "Place", "language_memory": "The robot has retrieved green packaged bacon and ham from the refrigerated display case and adjusted its posture by bending downward while rotating its waist."}, {"start_frame": 568, "end_frame": 637, "action_text": "place the green packaged bacon into the shopping cart", "skill": "Place", "language_memory": "The robot picked up green packaged bacon and ham from the refrigerated display case, adjusted its posture by bending downward while rotating its waist, and placed the green packaged ham into the shopping cart."}, {"start_frame": 637, "end_frame": 781, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot picked up green packaged bacon and ham from the refrigerated display case and placed both items into the shopping cart."}, {"start_frame": 781, "end_frame": 949, "action_text": "pick up the green packaged ham from the refrigerated display case", "skill": "Pick", "language_memory": "The robot picked up green packaged bacon and ham from the refrigerated display case, placed them into the shopping cart, and adjusted its posture."}, {"start_frame": 949, "end_frame": 1043, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot has retrieved and placed green packaged bacon and ham into the shopping cart, adjusted its posture, and is currently picking up another green packaged ham from the refrigerated display case."}, {"start_frame": 1043, "end_frame": 1207, "action_text": "pick up the red packaged meat product from the refrigerated display case", "skill": "Pick", "language_memory": "The robot retrieved green packaged bacon and ham from the refrigerated display case and placed them into the shopping cart."}, {"start_frame": 1207, "end_frame": 1279, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot has retrieved multiple packaged meat products, including green bacon, green ham, and red meat, from the refrigerated display case and successfully placed them into the shopping cart."}, {"start_frame": 1279, "end_frame": 1405, "action_text": "bend the body downward while rotating the waist", "skill": "AdjustPosture", "language_memory": "The robot has successfully retrieved multiple packaged meat products, including green bacon, green ham, and red meat, from the refrigerated display case and placed them into the shopping cart."}, {"start_frame": 1405, "end_frame": 1507, "action_text": "place the red packaged meat product into the shopping cart", "skill": "Place", "language_memory": "The robot has successfully retrieved green packaged bacon and ham, along with a red packaged meat product, from the refrigerated display case and placed them into the shopping cart."}, {"start_frame": 1507, "end_frame": 1600, "action_text": "place the green packaged ham into the shopping cart", "skill": "Place", "language_memory": "The robot has successfully retrieved green packaged bacon, green packaged ham, and a red packaged meat product from the refrigerated display case and placed all items into the shopping cart."}, {"start_frame": 1600, "end_frame": 1720, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot successfully retrieved green packaged bacon, green packaged ham, and red packaged meat products from the refrigerated display case and placed all items into the shopping cart."}, {"start_frame": 1720, "end_frame": 1759, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot successfully retrieved green packaged bacon, green packaged ham, and red packaged meat products from the refrigerated display case and placed all items into the shopping cart."}], "detailed_task_instruction": ["Restock the shopping cart with packaged meat products from the refrigerated display case. First, bend your body downward while rotating your waist to pick up the green packaged bacon and the green packaged ham, then place both items into the cart. Next, adjust your posture, bend over, and pick up the red packaged meat product from the display case. Finally, place the red packaged meat product and the second green packaged ham into the shopping cart, ensuring all items are securely stored."]}
{"task_id": "task_3400", "episode_index": 52, "video_path": "task_3400/videos/chunk-000/{video_key}/episode_000052.mp4", "tasks": ["Restocking the packaged toilet paper."], "length": 1689, "action_config": [{"start_frame": 26, "end_frame": 178, "action_text": "pick up the brown packaged pig liver from the refrigerated display case", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 178, "end_frame": 351, "action_text": "hand over the brown bag of pig liver", "skill": "Handover", "language_memory": "The robot has picked up the brown packaged pig liver from the refrigerated display case."}, {"start_frame": 351, "end_frame": 502, "action_text": "pick up the green packaged bacon from the refrigerated display case", "skill": "Pick", "language_memory": "The robot picked up a brown packaged pig liver from the refrigerated display case and handed it over."}, {"start_frame": 502, "end_frame": 604, "action_text": "bend your body downward while rotating your waist", "skill": "AdjustPosture", "language_memory": "The robot has retrieved and handed over a brown packaged pig liver and a green packaged bacon from the refrigerated display case."}, {"start_frame": 604, "end_frame": 680, "action_text": "place the green packaged bacon into the shopping cart", "skill": "Place", "language_memory": "The robot has retrieved and handed over a brown packaged pig liver and a green packaged bacon from the refrigerated display case, while also bending downward with a waist rotation."}, {"start_frame": 680, "end_frame": 753, "action_text": "place the brown bag of pig liver into the shopping cart", "skill": "Place", "language_memory": "The robot retrieved a brown packaged pig liver and a green packaged bacon from the refrigerated display case and placed the bacon into the shopping cart."}, {"start_frame": 753, "end_frame": 894, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot retrieved and placed both the brown packaged pig liver and the green packaged bacon into the shopping cart."}, {"start_frame": 894, "end_frame": 1084, "action_text": "pick up the green packaged bacon from the refrigerated display case", "skill": "Pick", "language_memory": "The robot retrieved and placed both the brown packaged pig liver and the green packaged bacon into the shopping cart."}, {"start_frame": 1084, "end_frame": 1241, "action_text": "pick up the green packaged ham from the refrigerated display case", "skill": "Pick", "language_memory": "The robot has successfully retrieved and placed brown packaged pig liver and green packaged bacon into the shopping cart."}, {"start_frame": 1241, "end_frame": 1372, "action_text": "rotate the waist downward", "skill": "Rotate", "language_memory": "The robot has successfully retrieved and placed multiple packaged meat items, including pig liver, bacon, and ham, into the shopping cart."}, {"start_frame": 1372, "end_frame": 1439, "action_text": "place the green packaged ham into the shopping cart", "skill": "Place", "language_memory": "The robot has successfully retrieved and placed multiple packaged meat items, including pig liver, bacon, and ham, into the shopping cart."}, {"start_frame": 1439, "end_frame": 1507, "action_text": "place the green packaged bacon into the shopping cart", "skill": "Place", "language_memory": "The robot has successfully retrieved and placed multiple packaged meat items, including pig liver, bacon, and ham, into the shopping cart."}, {"start_frame": 1507, "end_frame": 1631, "action_text": "pick up the waist", "skill": "Pick", "language_memory": "The robot successfully retrieved and placed multiple packaged meat items, including pig liver, bacon, and ham, into the shopping cart."}, {"start_frame": 1631, "end_frame": 1688, "action_text": "place the reset position", "skill": "Place", "language_memory": "The robot successfully retrieved and placed multiple packaged meat items, including pig liver, bacon, and ham, into the shopping cart."}], "detailed_task_instruction": ["Restock the shopping cart with packaged meats from the refrigerated display case. Begin by picking up the brown packaged pig liver, handing it over, and then placing it into the cart. Next, retrieve the green packaged bacon, bend your body downward while rotating your waist, and place the bacon into the cart. Adjust your posture, then pick up the green packaged ham, rotate your waist downward, and place the ham into the cart. Finally, place the green packaged bacon into the shopping cart and return to the reset position."]}
{"task_id": "task_3400", "episode_index": 53, "video_path": "task_3400/videos/chunk-000/{video_key}/episode_000053.mp4", "tasks": ["Restocking the packaged toilet paper."], "length": 1873, "action_config": [{"start_frame": 0, "end_frame": 227, "action_text": "pick up the green packaged ham from the chilled display case", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 227, "end_frame": 415, "action_text": "pick up the green packaged ham from the refrigerated display case", "skill": "Pick", "language_memory": "The robot has picked up the green packaged ham from the chilled display case."}, {"start_frame": 415, "end_frame": 533, "action_text": "bend the body downward while rotating the waist", "skill": "AdjustPosture", "language_memory": "The robot has picked up green packaged ham from both the chilled and refrigerated display cases."}, {"start_frame": 533, "end_frame": 607, "action_text": "place the green packaged ham into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up green packaged ham from both the chilled and refrigerated display cases and adjusted its posture by bending downward while rotating the waist."}, {"start_frame": 607, "end_frame": 694, "action_text": "place the green packaged ham into the shopping cart", "skill": "Place", "language_memory": "The robot picked up green packaged ham from both the chilled and refrigerated display cases and placed it into the shopping cart."}, {"start_frame": 694, "end_frame": 824, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot picked up green packaged ham from the chilled and refrigerated display cases and placed them into the shopping cart."}, {"start_frame": 824, "end_frame": 1033, "action_text": "pick up the green packaged ham from the refrigerated display case", "skill": "Pick", "language_memory": "The robot has picked up green packaged ham from both the chilled and refrigerated display cases, placed them into the shopping cart, and adjusted its posture."}, {"start_frame": 1033, "end_frame": 1081, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot has picked up multiple green packaged hams from chilled and refrigerated display cases, adjusted its posture, and placed them into the shopping cart."}, {"start_frame": 1081, "end_frame": 1331, "action_text": "pick up the green packaged ham from the refrigerated display case", "skill": "Pick", "language_memory": "The robot has successfully retrieved multiple green packaged hams from the chilled and refrigerated display cases and placed them into the shopping cart."}, {"start_frame": 1331, "end_frame": 1526, "action_text": "pick up the green packaged bacon from the refrigerated display case", "skill": "Pick", "language_memory": "The robot successfully retrieved multiple green packaged hams from chilled and refrigerated display cases, adjusted its posture, and placed all items into the shopping cart."}, {"start_frame": 1526, "end_frame": 1639, "action_text": "bend your body downward while rotating your waist", "skill": "AdjustPosture", "language_memory": "The robot has successfully retrieved multiple packages of green ham and bacon from refrigerated display cases and placed them into the shopping cart."}, {"start_frame": 1639, "end_frame": 1691, "action_text": "place the green packaged bacon into the shopping cart", "skill": "Place", "language_memory": "The robot has successfully retrieved multiple packages of green ham and bacon from refrigerated display cases and placed them into the shopping cart."}, {"start_frame": 1691, "end_frame": 1757, "action_text": "place the green packaged ham into the shopping cart", "skill": "Place", "language_memory": "The robot has successfully retrieved multiple green packaged hams and one green packaged bacon from refrigerated display cases and placed them into the shopping cart."}, {"start_frame": 1757, "end_frame": 1872, "action_text": "bend the waist downward while rotating it", "skill": "AdjustPosture", "language_memory": "The robot has successfully retrieved multiple packages of green packaged ham and bacon from refrigerated display cases and placed them into the shopping cart."}], "detailed_task_instruction": ["Restock the shopping cart with packaged meats from the refrigerated and chilled display cases. Begin by picking up green packaged ham from the chilled display case, bending your body downward while rotating your waist, and placing the item into the cart. Next, retrieve green packaged ham from the refrigerated display case, adjusting your posture as needed, and place it in the cart. Continue by picking up additional green packaged ham from the refrigerated display case, bending over, and placing it into the cart. Finally, pick up green packaged bacon from the refrigerated display case, bend your body downward while rotating your waist, and place the bacon into the shopping cart. Ensure all items are securely placed in the cart during the restocking process."]}
{"task_id": "task_3400", "episode_index": 54, "video_path": "task_3400/videos/chunk-000/{video_key}/episode_000054.mp4", "tasks": ["Restocking the packaged toilet paper."], "length": 1967, "action_config": [{"start_frame": 0, "end_frame": 127, "action_text": "bend your body downward while rotating your waist", "skill": "AdjustPosture", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 127, "end_frame": 258, "action_text": "pick up the green packaged bacon from the shopping cart", "skill": "Pick", "language_memory": "The robot bent its body downward while rotating its waist."}, {"start_frame": 258, "end_frame": 407, "action_text": "pick up the green packaged ham from the shopping cart", "skill": "Pick", "language_memory": "The robot bent downward while rotating its waist and picked up the green packaged bacon from the shopping cart."}, {"start_frame": 407, "end_frame": 522, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot bent downward while rotating its waist and picked up green packaged bacon and ham from the shopping cart."}, {"start_frame": 522, "end_frame": 673, "action_text": "place the green packaged ham in the refrigerated display case", "skill": "Place", "language_memory": "The robot bent downward while rotating its waist, picked up green packaged bacon and ham from the shopping cart, and adjusted its posture."}, {"start_frame": 673, "end_frame": 815, "action_text": "place the green bagged bacon in the refrigerated cabinet", "skill": "Place", "language_memory": "The robot bent downward, rotated its waist, adjusted its posture, and placed the green packaged ham into the refrigerated display case."}, {"start_frame": 815, "end_frame": 901, "action_text": "adjusts the position of the green packaged bacon", "skill": "AdjustObjectPosition", "language_memory": "The robot bent downward, rotated its waist, adjusted its posture, and placed both the green packaged bacon and ham into the refrigerated display case."}, {"start_frame": 901, "end_frame": 1050, "action_text": "bend the body downward while rotating the waist", "skill": "AdjustPosture", "language_memory": "The robot bent downward, picked up green packaged bacon and ham from the shopping cart, adjusted its posture, and placed both items into the refrigerated display case and cabinet, followed by adjusting the position of the bacon."}, {"start_frame": 1050, "end_frame": 1172, "action_text": "pick up the green packaged ham from the shopping cart", "skill": "Pick", "language_memory": "The robot bent downward while rotating its waist, picked up green packaged bacon and ham from the shopping cart, adjusted its posture, and placed both items into the refrigerated display case and cabinet."}, {"start_frame": 1172, "end_frame": 1296, "action_text": "pick up the green packaged ham from the shopping cart", "skill": "Pick", "language_memory": "The robot bent downward, picked up green packaged bacon and ham from the shopping cart, adjusted its posture, and placed the items into the refrigerated display case and cabinet."}, {"start_frame": 1296, "end_frame": 1412, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot has bent downward, rotated its waist, adjusted its posture, and placed multiple green packaged items including bacon and ham into the refrigerated display case and cabinet."}, {"start_frame": 1412, "end_frame": 1589, "action_text": "place the green packaged ham in the refrigerated display case", "skill": "Place", "language_memory": "The robot bent downward, rotated its waist, adjusted its posture, and placed multiple green packaged items including bacon and ham into the refrigerated display case and cabinet."}, {"start_frame": 1589, "end_frame": 1739, "action_text": "pick up the green packaged ham", "skill": "Pick", "language_memory": "The robot has successfully retrieved multiple green packaged items, including bacon and ham, from the shopping cart and placed them into the refrigerated display case and cabinet."}, {"start_frame": 1739, "end_frame": 1921, "action_text": "place the green bagged ham on the corresponding position in the chilled display cabinet", "skill": "Place", "language_memory": "The robot has bent downward, rotated its waist, adjusted its posture, and successfully placed multiple green packaged items including bacon and ham into the refrigerated display case and cabinet."}, {"start_frame": 1921, "end_frame": 1966, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot has successfully retrieved multiple packages of green bagged ham and bacon from the shopping cart and placed them into the refrigerated display case and cabinet."}], "detailed_task_instruction": ["Restock the refrigerated display case and cabinet with packaged meats. Begin by bending downward while rotating your waist to pick up the green packaged bacon from the shopping cart. Adjust your robot posture, then place the bacon in the refrigerated cabinet and adjust its position. Next, bend downward again to pick up the green packaged ham from the shopping cart. Adjust your posture and place the ham in the refrigerated display case. Finally, pick up the remaining green packaged ham and place it on the corresponding position in the chilled display cabinet."]}
{"task_id": "task_3400", "episode_index": 55, "video_path": "task_3400/videos/chunk-000/{video_key}/episode_000055.mp4", "tasks": ["Restocking the packaged toilet paper."], "length": 2167, "action_config": [{"start_frame": 0, "end_frame": 130, "action_text": "bend your body downward while rotating your waist", "skill": "AdjustPosture", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 130, "end_frame": 280, "action_text": "pick up the green packaged bacon from the shopping cart", "skill": "Pick", "language_memory": "The robot bent its body downward while rotating its waist."}, {"start_frame": 280, "end_frame": 503, "action_text": "pick up the red packaged meat product from the shopping cart", "skill": "Pick", "language_memory": "The robot bent downward while rotating its waist and picked up the green packaged bacon from the shopping cart."}, {"start_frame": 503, "end_frame": 626, "action_text": "pick up the red packaged meat product from the shopping cart", "skill": "Pick", "language_memory": "The robot bent downward while rotating its waist and picked up green packaged bacon and red packaged meat products from the shopping cart."}, {"start_frame": 626, "end_frame": 748, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot bent downward while rotating its waist and picked up green packaged bacon and red packaged meat products from the shopping cart."}, {"start_frame": 748, "end_frame": 926, "action_text": "place the green packaged bacon in the corresponding position on the refrigerated display case", "skill": "Place", "language_memory": "The robot bent downward, rotated its waist, picked up green packaged bacon and two red packaged meat products from the shopping cart, and adjusted its posture."}, {"start_frame": 926, "end_frame": 992, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot bent downward, rotated its waist, picked up green packaged bacon and red packaged meat products from the shopping cart, adjusted its posture, and placed the green packaged bacon in the corresponding position on the refrigerated display case."}, {"start_frame": 992, "end_frame": 1139, "action_text": "place the red packaged meat product on the corresponding position in the chilled display case", "skill": "Place", "language_memory": "The robot bent downward, picked up green packaged bacon and red packaged meat products from the shopping cart, adjusted its posture, and placed the green packaged bacon in the corresponding position on the refrigerated display case."}, {"start_frame": 1139, "end_frame": 1206, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot bent downward, picked up green packaged bacon and red packaged meat products from the shopping cart, and placed them in their corresponding positions on the refrigerated and chilled display cases."}, {"start_frame": 1206, "end_frame": 1327, "action_text": "bend your body downward while rotating your waist", "skill": "AdjustPosture", "language_memory": "The robot picked up green packaged bacon and red packaged meat products from the shopping cart and placed them in the corresponding positions on the refrigerated and chilled display cases."}, {"start_frame": 1327, "end_frame": 1496, "action_text": "pick up the green packaged bacon from the shopping cart", "skill": "Pick", "language_memory": "The robot picked up green packaged bacon and red packaged meat products from the shopping cart and placed them in the corresponding positions on the refrigerated and chilled display cases."}, {"start_frame": 1496, "end_frame": 1711, "action_text": "pick up the green packaged bacon from the shopping cart", "skill": "Pick", "language_memory": "The robot has restocked green packaged bacon and red packaged meat products onto the refrigerated and chilled display cases, respectively, by picking them from the shopping cart and adjusting its posture as needed."}, {"start_frame": 1711, "end_frame": 1831, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot has restocked multiple packages of green bacon and red meat products onto the refrigerated and chilled display cases."}, {"start_frame": 1831, "end_frame": 1965, "action_text": "place the green bagged bacon on the designated spot in the refrigerated display case", "skill": "Place", "language_memory": "The robot has restocked the refrigerated display case with multiple packages of green bacon and red meat products by picking them from the shopping cart and placing them in their corresponding positions."}, {"start_frame": 1965, "end_frame": 2166, "action_text": "place the green packaged bacon on the refrigerated display cabinet", "skill": "Place", "language_memory": "The robot has restocked multiple packages of green bacon and red meat products from the shopping cart into their designated positions on the refrigerated and chilled display cases."}], "detailed_task_instruction": ["Restock the refrigerated display case with packaged meat products by first bending downward and rotating your waist to pick up a green packaged bacon item from the shopping cart, then adjusting your posture to place it in the corresponding position on the refrigerated display case. Next, bend over to retrieve a red packaged meat product from the cart, adjust your posture, and place it on the designated spot in the chilled display case. Finally, bend downward again to pick up another green packaged bacon item, adjust your posture, and place it on the refrigerated display cabinet to complete the restocking process."]}
{"task_id": "task_3400", "episode_index": 56, "video_path": "task_3400/videos/chunk-000/{video_key}/episode_000056.mp4", "tasks": ["Restocking the packaged toilet paper."], "length": 2353, "action_config": [{"start_frame": 0, "end_frame": 170, "action_text": "bend your body downward while rotating your waist", "skill": "AdjustPosture", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 170, "end_frame": 475, "action_text": "pick up the green packaged bacon from the shopping cart", "skill": "Pick", "language_memory": "The robot bent its body downward while rotating its waist."}, {"start_frame": 475, "end_frame": 682, "action_text": "pick up the green packaged ham from the shopping cart", "skill": "Pick", "language_memory": "The robot bent downward while rotating its waist and picked up the green packaged bacon from the shopping cart."}, {"start_frame": 682, "end_frame": 815, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot bent downward while rotating its waist and picked up green packaged bacon and ham from the shopping cart."}, {"start_frame": 815, "end_frame": 932, "action_text": "place the green packaged ham in the refrigerated display case", "skill": "Place", "language_memory": "The robot bent downward while rotating its waist, picked up green packaged bacon and ham from the shopping cart, and adjusted its posture."}, {"start_frame": 932, "end_frame": 1127, "action_text": "place the green packaged bacon on the refrigerated shelf", "skill": "Place", "language_memory": "The robot bent downward, rotated its waist, adjusted its posture, and placed the green packaged ham into the refrigerated display case."}, {"start_frame": 1127, "end_frame": 1253, "action_text": "rotate the waist downward", "skill": "Rotate", "language_memory": "The robot bent downward, rotated its waist, adjusted its posture, and placed both the green packaged bacon and ham into the refrigerated display case."}, {"start_frame": 1253, "end_frame": 1475, "action_text": "pick up the green packaged bacon from the shopping cart", "skill": "Pick", "language_memory": "The robot bent downward, picked up green packaged bacon and ham from the shopping cart, adjusted its posture, and placed both items in the refrigerated display case."}, {"start_frame": 1475, "end_frame": 1763, "action_text": "pick up the brown bagged pig liver from the shopping cart", "skill": "Pick", "language_memory": "The robot has picked up green packaged bacon and ham from the shopping cart and placed them in the refrigerated display case."}, {"start_frame": 1763, "end_frame": 1907, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot bent downward, adjusted its posture, and picked up green packaged bacon, green packaged ham, and brown bagged pig liver from the shopping cart, subsequently placing the ham and bacon into the refrigerated display case."}, {"start_frame": 1907, "end_frame": 2044, "action_text": "place the brown bag of pig liver on the chilled display cabinet", "skill": "Place", "language_memory": "The robot has adjusted its posture, rotated its waist, and placed the green packaged bacon, green packaged ham, and brown bagged pig liver onto the refrigerated display case and shelf."}, {"start_frame": 2044, "end_frame": 2328, "action_text": "place the green packaged bacon on the refrigerated shelf", "skill": "Place", "language_memory": "The robot bent downward, adjusted its posture, and placed the green packaged bacon, green packaged ham, and brown bagged pig liver onto the refrigerated display case and chilled cabinet."}, {"start_frame": 2328, "end_frame": 2352, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot has placed green packaged bacon, green packaged ham, and brown bagged pig liver onto the refrigerated display case and shelves."}], "detailed_task_instruction": ["Restock the refrigerated display case and shelf by first bending downward and rotating your waist to pick up a green packaged bacon from the shopping cart, then adjusting your posture to place it on the refrigerated shelf. Next, bend and rotate your waist again to pick up a green packaged ham, adjust your posture, and place the ham in the refrigerated display case. Finally, bend and rotate your waist to pick up a brown bagged pig liver, adjust your posture, and place the pig liver on the chilled display cabinet. Ensure all items are securely positioned in their designated cold storage locations."]}
{"task_id": "task_3400", "episode_index": 57, "video_path": "task_3400/videos/chunk-000/{video_key}/episode_000057.mp4", "tasks": ["Restocking the packaged toilet paper."], "length": 2238, "action_config": [{"start_frame": 0, "end_frame": 178, "action_text": "bend your body downward while rotating your waist", "skill": "AdjustPosture", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 178, "end_frame": 413, "action_text": "pick up the white bagged bacon from the shopping cart", "skill": "Pick", "language_memory": "The robot bent its body downward while rotating its waist."}, {"start_frame": 413, "end_frame": 610, "action_text": "pick up the brown packaged pig liver from the shopping cart", "skill": "Pick", "language_memory": "The robot bent downward while rotating its waist and picked up the white bagged bacon from the shopping cart."}, {"start_frame": 610, "end_frame": 712, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot bent downward while rotating its waist, picked up the white bagged bacon, and picked up the brown packaged pig liver from the shopping cart."}, {"start_frame": 712, "end_frame": 869, "action_text": "place the brown bag of pig liver into the chilled fresh cabinet", "skill": "Place", "language_memory": "The robot bent downward while rotating its waist, picked up a white bagged bacon and a brown packaged pig liver from the shopping cart, and adjusted its posture."}, {"start_frame": 869, "end_frame": 993, "action_text": "place the white packaged bacon on the designated spot in the chilled display case", "skill": "Place", "language_memory": "The robot bent downward, rotated its waist, picked up a white bagged bacon and a brown packaged pig liver from the shopping cart, adjusted its posture, and placed the pig liver into the chilled fresh cabinet."}, {"start_frame": 993, "end_frame": 1118, "action_text": "place the white packaged bacon on the target", "skill": "Place", "language_memory": "The robot bent downward, rotated its waist, adjusted its posture, picked up white bagged bacon and brown packaged pig liver from the shopping cart, and placed both items into their respective storage locations."}, {"start_frame": 1118, "end_frame": 1248, "action_text": "rotate the waist downward", "skill": "Rotate", "language_memory": "The robot bent downward, rotated its waist, adjusted its posture, and successfully placed the white bagged bacon and brown packaged pig liver into their respective storage locations."}, {"start_frame": 1248, "end_frame": 1388, "action_text": "pick up the green bagged bacon from the shopping cart", "skill": "Pick", "language_memory": "The robot bent downward, picked up white bagged bacon and brown packaged pig liver from the shopping cart, adjusted its posture, and placed both items into the chilled fresh cabinet and display case."}, {"start_frame": 1388, "end_frame": 1464, "action_text": "hand over the green bag of bacon", "skill": "Handover", "language_memory": "The robot bent downward, adjusted its posture, and picked up white and brown packaged meats from the shopping cart before placing the brown bag in the chilled fresh cabinet and the white bag in the chilled display case."}, {"start_frame": 1464, "end_frame": 1602, "action_text": "pick up the green packaged ham from the shopping cart", "skill": "Pick", "language_memory": "The robot bent downward, picked up white and brown packaged meats from the shopping cart, adjusted its posture, placed the brown bag in the chilled fresh cabinet, positioned the white bag in the chilled display case and on the target, rotated its waist, picked up a green bagged item, and handed it over."}, {"start_frame": 1602, "end_frame": 1720, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot bent downward, picked up white bagged bacon, brown packaged pig liver, and green bagged bacon from the shopping cart, adjusted its posture, placed the pig liver in the chilled fresh cabinet, and positioned the white bacon on the chilled display case and target, while handing over the green bacon and picking up green packaged ham."}, {"start_frame": 1720, "end_frame": 1846, "action_text": "place the green packaged ham on the refrigerated display case", "skill": "Place", "language_memory": "The robot has bent downward, picked up and placed white bagged bacon, brown packaged pig liver, and green bagged bacon into the chilled fresh cabinet or on designated spots, and adjusted its posture accordingly."}, {"start_frame": 1846, "end_frame": 2008, "action_text": "place the green bagged bacon on the designated spot in the chilled display case", "skill": "Place", "language_memory": "The robot bent downward, picked up white bagged bacon, brown packaged pig liver, and green bagged bacon from the shopping cart, adjusted its posture, and placed the pig liver in the chilled fresh cabinet, the white bacon and green ham on the refrigerated display case."}, {"start_frame": 2008, "end_frame": 2209, "action_text": "place the green packaged bacon on the target", "skill": "Place", "language_memory": "The robot has successfully retrieved white bagged bacon, brown packaged pig liver, green bagged bacon, and green packaged ham from the shopping cart and placed all items into their designated spots in the chilled display case or refrigerated cabinet."}, {"start_frame": 2209, "end_frame": 2237, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot has successfully retrieved multiple packages of bacon, pig liver, and ham from the shopping cart and placed them into the chilled fresh cabinet, refrigerated display case, and designated targets."}], "detailed_task_instruction": ["Restock the chilled display cases and refrigerated cabinet by first bending your body downward while rotating your waist to pick up the white bagged bacon and the brown packaged pig liver from the shopping cart. Adjust your posture, then place the brown bag of pig liver into the chilled fresh cabinet and position the white packaged bacon on its designated spot in the chilled display case. Next, rotate your waist downward to pick up the green bagged bacon and the green packaged ham. After adjusting your robot posture, hand over the green bag of bacon, place the green packaged ham on the refrigerated display case, and finally position the green bagged bacon on its target spot in the chilled display case."]}
{"task_id": "task_3400", "episode_index": 58, "video_path": "task_3400/videos/chunk-000/{video_key}/episode_000058.mp4", "tasks": ["Restocking the packaged toilet paper."], "length": 2303, "action_config": [{"start_frame": 0, "end_frame": 127, "action_text": "bend your body downward while rotating your waist", "skill": "AdjustPosture", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 127, "end_frame": 321, "action_text": "pick up the white packaged ham from the shopping cart", "skill": "Pick", "language_memory": "The robot bent its body downward while rotating its waist."}, {"start_frame": 321, "end_frame": 505, "action_text": "pick up the green packaged ham from the shopping cart", "skill": "Pick", "language_memory": "The robot bent downward while rotating its waist and picked up the white packaged ham from the shopping cart."}, {"start_frame": 505, "end_frame": 652, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot bent downward while rotating its waist and picked up white and green packaged hams from the shopping cart."}, {"start_frame": 652, "end_frame": 794, "action_text": "place the green packaged ham in the refrigerated display case", "skill": "Place", "language_memory": "The robot bent downward while rotating its waist, picked up white and green packaged hams from the shopping cart, and adjusted its posture."}, {"start_frame": 794, "end_frame": 992, "action_text": "place the white packaged ham onto the designated spot for white packaged ham in the chilled display cabinet", "skill": "Place", "language_memory": "The robot bent downward, rotated its waist, picked up white and green packaged hams from the shopping cart, adjusted its posture, and placed the green packaged ham in the refrigerated display case."}, {"start_frame": 992, "end_frame": 1120, "action_text": "bend your body downward while rotating your waist", "skill": "AdjustPosture", "language_memory": "The robot picked up white and green packaged hams from the shopping cart and placed them into the refrigerated display case."}, {"start_frame": 1120, "end_frame": 1256, "action_text": "pick up the white packaged ham from the shopping cart", "skill": "Pick", "language_memory": "The robot picked up white and green packaged hams from the shopping cart and placed them into the refrigerated display case."}, {"start_frame": 1256, "end_frame": 1318, "action_text": "hand over the white bagged ham", "skill": "Handover", "language_memory": "The robot picked up white and green packaged hams from the shopping cart and placed them into the refrigerated display case."}, {"start_frame": 1318, "end_frame": 1504, "action_text": "pick up the green packaged ham from the shopping cart", "skill": "Pick", "language_memory": "The robot picked up white and green packaged hams from the shopping cart, adjusted its posture, and placed the green and white packaged hams into the refrigerated display case before handing over the white bagged ham."}, {"start_frame": 1504, "end_frame": 1641, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot has picked up multiple white and green packaged hams from the shopping cart and placed them into the refrigerated display case."}, {"start_frame": 1641, "end_frame": 1781, "action_text": "place the green packaged ham on the refrigerated display cabinet", "skill": "Place", "language_memory": "The robot has picked up multiple white and green packaged hams from the shopping cart, adjusted its posture, and placed the green and white packaged hams into the refrigerated display case."}, {"start_frame": 1781, "end_frame": 1888, "action_text": "hand over the white packaged ham", "skill": "Handover", "language_memory": "The robot has successfully retrieved multiple white and green packaged hams from the shopping cart and placed them onto the refrigerated display case."}, {"start_frame": 1888, "end_frame": 2236, "action_text": "place the packaged white bacon on the refrigerated display case", "skill": "Place", "language_memory": "The robot has successfully retrieved multiple white and green packaged hams from the shopping cart and placed them onto the refrigerated display case."}, {"start_frame": 2236, "end_frame": 2302, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot has successfully retrieved multiple white and green packaged hams and a white packaged bacon from the shopping cart and placed them onto the refrigerated display case."}], "detailed_task_instruction": ["Restock the refrigerated display cases by first bending down and rotating your waist to pick up a white packaged ham and a green packaged ham from the shopping cart. Adjust your posture, then place the green packaged ham into the refrigerated display case and the white packaged ham onto its designated spot in the chilled display cabinet. Repeat this sequence by bending down again to retrieve another white packaged ham and a green packaged ham from the cart. After adjusting your posture, place the second green packaged ham on the refrigerated display cabinet. Finally, hand over the remaining white bagged ham and place the packaged white bacon onto the refrigerated display case to complete the restocking process."]}
{"task_id": "task_3400", "episode_index": 59, "video_path": "task_3400/videos/chunk-000/{video_key}/episode_000059.mp4", "tasks": ["Restocking the packaged toilet paper."], "length": 1376, "action_config": [{"start_frame": 30, "end_frame": 140, "action_text": "pick up the green packaged ham from the refrigerated display case", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 140, "end_frame": 290, "action_text": "pick up the white packaged ham from the refrigerated display case", "skill": "Pick", "language_memory": "The robot has picked up the green packaged ham from the refrigerated display case."}, {"start_frame": 290, "end_frame": 417, "action_text": "bend your body downward while rotating your waist", "skill": "AdjustPosture", "language_memory": "The robot has picked up the green and white packaged hams from the refrigerated display case."}, {"start_frame": 417, "end_frame": 506, "action_text": "place the green packaged ham into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up green and white packaged hams from the refrigerated display case and bent its body downward while rotating its waist."}, {"start_frame": 506, "end_frame": 593, "action_text": "place the white packaged ham into the shopping cart", "skill": "Place", "language_memory": "The robot picked up green and white packaged hams from the refrigerated display case and placed the green ham into the shopping cart."}, {"start_frame": 593, "end_frame": 720, "action_text": "pick up the waist", "skill": "Pick", "language_memory": "The robot picked up green and white packaged hams from the refrigerated display case and placed them into the shopping cart."}, {"start_frame": 720, "end_frame": 845, "action_text": "pick up the green packaged ham from the refrigerated display case", "skill": "Pick", "language_memory": "The robot picked up green and white packaged hams from the refrigerated display case, placed them into the shopping cart, and bent downward while rotating its waist."}, {"start_frame": 845, "end_frame": 970, "action_text": "pick up the green packaged bacon from the refrigerated display case", "skill": "Pick", "language_memory": "The robot picked up green and white packaged hams from the refrigerated display case and placed them into the shopping cart."}, {"start_frame": 970, "end_frame": 1072, "action_text": "bend the body downward while rotating the waist", "skill": "AdjustPosture", "language_memory": "The robot has successfully retrieved and placed green and white packaged hams and green packaged bacon into the shopping cart."}, {"start_frame": 1072, "end_frame": 1157, "action_text": "place the green packaged ham into the shopping cart", "skill": "Place", "language_memory": "The robot has successfully retrieved and placed green and white packaged hams and green packaged bacon into the shopping cart."}, {"start_frame": 1157, "end_frame": 1232, "action_text": "place the green packaged bacon into the shopping cart", "skill": "Place", "language_memory": "The robot has successfully retrieved multiple packages of ham and bacon from the refrigerated display case and placed them into the shopping cart."}, {"start_frame": 1232, "end_frame": 1357, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot successfully retrieved multiple packages of ham and bacon from the refrigerated display case and placed them into the shopping cart."}, {"start_frame": 1357, "end_frame": 1375, "action_text": "place the reset position", "skill": "Place", "language_memory": "The robot successfully retrieved and placed multiple packages of ham and bacon from the refrigerated display case into the shopping cart, while adjusting its posture throughout the process."}], "detailed_task_instruction": ["Restock the refrigerated display case by first picking up the green packaged ham and the white packaged ham, then bending your body downward while rotating your waist to place both items into the shopping cart. Next, pick up the green packaged ham again and the green packaged bacon, bend your body downward while rotating your waist, and place both the green packaged ham and the green packaged bacon into the shopping cart. Finally, adjust your robot posture and return to the reset position."]}
{"task_id": "task_3400", "episode_index": 60, "video_path": "task_3400/videos/chunk-000/{video_key}/episode_000060.mp4", "tasks": ["Restocking the packaged toilet paper."], "length": 1518, "action_config": [{"start_frame": 22, "end_frame": 140, "action_text": "pick up the green packaged bacon from the refrigerated display case", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 140, "end_frame": 258, "action_text": "pick up the green packaged ham from the refrigerated display case", "skill": "Pick", "language_memory": "The robot has picked up the green packaged bacon from the refrigerated display case."}, {"start_frame": 258, "end_frame": 361, "action_text": "bend your body downward while rotating your waist", "skill": "AdjustPosture", "language_memory": "The robot has retrieved the green packaged bacon and ham from the refrigerated display case."}, {"start_frame": 361, "end_frame": 431, "action_text": "place the green packaged bacon into the shopping cart", "skill": "Place", "language_memory": "The robot has retrieved green packaged bacon and ham from the refrigerated display case and adjusted its posture by bending downward while rotating its waist."}, {"start_frame": 431, "end_frame": 501, "action_text": "place the green packaged ham into the shopping cart", "skill": "Place", "language_memory": "The robot picked up green packaged bacon and ham from the refrigerated display case, adjusted its posture by bending downward while rotating its waist, and placed the green packaged bacon into the shopping cart."}, {"start_frame": 501, "end_frame": 618, "action_text": "pick up the waist", "skill": "Pick", "language_memory": "The robot picked up green packaged bacon and ham from the refrigerated display case and placed them into the shopping cart."}, {"start_frame": 618, "end_frame": 941, "action_text": "pick up the green packaged bacon from the refrigerated display case", "skill": "Pick", "language_memory": "The robot picked up green packaged bacon and ham from the refrigerated display case, placed them into the shopping cart, and bent downward while rotating its waist."}, {"start_frame": 941, "end_frame": 1117, "action_text": "pick up the green packaged ham from the refrigerated display case", "skill": "Pick", "language_memory": "The robot picked up green packaged bacon and ham from the refrigerated display case, placed them into the shopping cart, and adjusted its waist position."}, {"start_frame": 1117, "end_frame": 1244, "action_text": "bend your body downward while rotating your waist", "skill": "AdjustPosture", "language_memory": "The robot has successfully retrieved green packaged bacon and ham from the refrigerated display case and placed them into the shopping cart."}, {"start_frame": 1244, "end_frame": 1307, "action_text": "place the green packaged bacon into the shopping cart", "skill": "Place", "language_memory": "The robot has successfully retrieved and placed multiple green packaged items, including bacon and ham, into the shopping cart."}, {"start_frame": 1307, "end_frame": 1373, "action_text": "place the green packaged ham into the shopping cart", "skill": "Place", "language_memory": "The robot successfully retrieved and placed multiple green packaged items, including bacon and ham, into the shopping cart."}, {"start_frame": 1373, "end_frame": 1494, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot successfully retrieved multiple packages of green bacon and ham from the refrigerated display case and placed them into the shopping cart."}, {"start_frame": 1494, "end_frame": 1517, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot successfully retrieved and placed multiple packages of green bacon and ham into the shopping cart, adjusting its posture between cycles."}], "detailed_task_instruction": ["Restock the refrigerated display case by first picking up the green packaged bacon and the green packaged ham, then bending your body downward while rotating your waist to place both items into the shopping cart. Repeat this sequence of picking up the bacon and ham, bending down with a waist rotation, and placing them into the cart a second time. Finally, adjust your robot posture to complete the task."]}
{"task_id": "task_3400", "episode_index": 61, "video_path": "task_3400/videos/chunk-000/{video_key}/episode_000061.mp4", "tasks": ["Restocking the packaged toilet paper."], "length": 1537, "action_config": [{"start_frame": 23, "end_frame": 169, "action_text": "pick up the brown packaged pork liver", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 169, "end_frame": 299, "action_text": "pick up the green packaged bacon from the refrigerated display case", "skill": "Pick", "language_memory": "The robot has picked up the brown packaged pork liver."}, {"start_frame": 299, "end_frame": 414, "action_text": "bend the waist downward while rotating it", "skill": "AdjustPosture", "language_memory": "The robot has picked up the brown packaged pork liver and the green packaged bacon from the refrigerated display case."}, {"start_frame": 414, "end_frame": 486, "action_text": "place the brown bag of pig liver into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up a brown packaged pork liver and a green packaged bacon from the refrigerated display case, and bent its waist downward while rotating."}, {"start_frame": 486, "end_frame": 607, "action_text": "place the green packaged bacon into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the brown packaged pork liver and the green packaged bacon from the refrigerated display case, bent its waist downward while rotating, and placed the brown bag of pig liver into the shopping cart."}, {"start_frame": 607, "end_frame": 739, "action_text": "the input action text describes a body movement (\"lift your waist while rotating it\") rather than a manipulation task involving an object to be picked up or placed. therefore, it cannot be rewritten into the specified \"pick up the x\" or \"place the x...\" format without inventing objects or actions, which violates the rules. no valid output sentence can be generated", "skill": "Pick", "language_memory": "The robot picked up a brown packaged pork liver and a green packaged bacon from the refrigerated display case, then placed both items into the shopping cart."}, {"start_frame": 739, "end_frame": 870, "action_text": "pick up the green packaged bacon from the chilled display case", "skill": "Pick", "language_memory": "The robot has picked up the brown packaged pork liver and the green packaged bacon from the refrigerated display case and placed both items into the shopping cart."}, {"start_frame": 870, "end_frame": 1129, "action_text": "pick up the green packaged ham from the refrigerated display case", "skill": "Pick", "language_memory": "The robot has successfully picked up brown packaged pork liver and green packaged bacon from the refrigerated display case and placed both items into the shopping cart."}, {"start_frame": 1129, "end_frame": 1249, "action_text": "bend your body downward while rotating your waist", "skill": "AdjustPosture", "language_memory": "The robot has placed the brown packaged pork liver and green packaged bacon into the shopping cart, and picked up the green packaged bacon and green packaged ham from the refrigerated display case."}, {"start_frame": 1249, "end_frame": 1314, "action_text": "place the green packaged bacon into the shopping cart", "skill": "Place", "language_memory": "The robot has successfully picked up and placed the brown packaged pork liver, green packaged bacon, and green packaged ham into the shopping cart."}, {"start_frame": 1314, "end_frame": 1391, "action_text": "place the green packaged ham into the shopping cart", "skill": "Place", "language_memory": "The robot has successfully picked up and placed multiple packaged meat items, including pork liver, bacon, and ham, into the shopping cart."}, {"start_frame": 1391, "end_frame": 1499, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot has successfully picked up and placed brown packaged pork liver, green packaged bacon, and green packaged ham into the shopping cart."}, {"start_frame": 1499, "end_frame": 1536, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot has successfully picked up and placed brown packaged pork liver, green packaged bacon, and green packaged ham into the shopping cart."}], "detailed_task_instruction": ["Restock the refrigerated section by picking up the brown packaged pork liver, the green packaged bacon, and the green packaged ham from the chilled display cases. While handling these items, the robot must bend its waist downward while rotating and adjust its posture as needed. Once all three items are collected, place the brown bag of pig liver, the green packaged bacon, and the green packaged ham into the shopping cart in that specific order."]}
{"task_id": "task_3400", "episode_index": 62, "video_path": "task_3400/videos/chunk-000/{video_key}/episode_000062.mp4", "tasks": ["Restocking the packaged toilet paper."], "length": 1901, "action_config": [{"start_frame": 29, "end_frame": 113, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 113, "end_frame": 306, "action_text": "pick up the red packaged meat product from the refrigerated display case", "skill": "Pick", "language_memory": "The robot has bent over."}, {"start_frame": 306, "end_frame": 385, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot bent over and picked up the red packaged meat product from the refrigerated display case."}, {"start_frame": 385, "end_frame": 523, "action_text": "pick up the green packaged ham from the refrigerated display case", "skill": "Pick", "language_memory": "The robot bent over, picked up the red packaged meat product from the refrigerated display case, and adjusted its posture."}, {"start_frame": 523, "end_frame": 658, "action_text": "bend your body downward while rotating your waist", "skill": "AdjustPosture", "language_memory": "The robot bent over, adjusted its posture, and picked up the red packaged meat product and the green packaged ham from the refrigerated display case."}, {"start_frame": 658, "end_frame": 721, "action_text": "place the green packaged ham into the shopping cart", "skill": "Place", "language_memory": "The robot bent over, adjusted its posture, and picked up the red packaged meat product and the green packaged ham from the refrigerated display case."}, {"start_frame": 721, "end_frame": 793, "action_text": "place the red packaged meat product into the shopping cart", "skill": "Place", "language_memory": "The robot bent over, picked up a red packaged meat product and a green packaged ham from the refrigerated display case, adjusted its posture, and placed the ham into the shopping cart."}, {"start_frame": 793, "end_frame": 906, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot picked up red packaged meat and green packaged ham from the refrigerated display case and placed both items into the shopping cart."}, {"start_frame": 906, "end_frame": 1092, "action_text": "pick up the brown packaged pig liver from the refrigerated display case", "skill": "Pick", "language_memory": "The robot retrieved red packaged meat and green packaged ham from the refrigerated display case and placed both items into the shopping cart."}, {"start_frame": 1092, "end_frame": 1444, "action_text": "pick up the green packaged pork knuckle from the refrigerated display case", "skill": "Pick", "language_memory": "The robot has retrieved and placed the red packaged meat product, green packaged ham, and brown packaged pig liver into the shopping cart."}, {"start_frame": 1444, "end_frame": 1565, "action_text": "bend your body downward while rotating your waist", "skill": "AdjustPosture", "language_memory": "The robot has retrieved and placed red packaged meat, green packaged ham, brown packaged pig liver, and green packaged pork knuckle into the shopping cart."}, {"start_frame": 1565, "end_frame": 1652, "action_text": "place the green packaged pork elbow into the shopping cart", "skill": "Place", "language_memory": "The robot has retrieved and placed red packaged meat, green packaged ham, brown packaged pig liver, and green packaged pork knuckle into the shopping cart."}, {"start_frame": 1652, "end_frame": 1749, "action_text": "place the brown bag of pig liver into the shopping cart", "skill": "Place", "language_memory": "The robot has placed the red packaged meat product, green packaged ham, brown packaged pig liver, and green packaged pork knuckle into the shopping cart."}, {"start_frame": 1749, "end_frame": 1877, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot has successfully retrieved and placed multiple packaged meat products, including red meat, green ham, brown pig liver, and green pork knuckle, into the shopping cart."}, {"start_frame": 1877, "end_frame": 1900, "action_text": "place the reset position", "skill": "Place", "language_memory": "The robot retrieved and placed multiple packaged meat products, including red meat, green ham, brown pig liver, and green pork knuckle, into the shopping cart."}], "detailed_task_instruction": ["Restock the refrigerated display case by first bending over and rotating your waist to pick up the red packaged meat product and the green packaged ham, then placing both items into the shopping cart. Next, adjust your posture, bend downward while rotating your waist again to retrieve the brown packaged pig liver and the green packaged pork knuckle, and subsequently place these two items into the shopping cart. Finally, adjust your posture once more and return to the reset position to complete the restocking process."]}
{"task_id": "task_3401", "episode_index": 0, "video_path": "task_3401/videos/chunk-000/{video_key}/episode_000000.mp4", "tasks": ["Restocking the packaged toilet paper."], "length": 3027, "action_config": [{"start_frame": 37, "end_frame": 486, "action_text": "pick up the blue packaged toilet paper from the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 486, "end_frame": 585, "action_text": "decrease height", "skill": "AdjustPosture", "language_memory": "The robot has picked up the blue packaged toilet paper from the shelf."}, {"start_frame": 585, "end_frame": 759, "action_text": "pick up the white bagged toilet paper from the shelf", "skill": "Pick", "language_memory": "The robot picked up the blue packaged toilet paper from the shelf and decreased its height."}, {"start_frame": 759, "end_frame": 839, "action_text": "decrease height", "skill": "AdjustPosture", "language_memory": "The robot has picked up the blue packaged toilet paper and the white bagged toilet paper from the shelf and decreased its height."}, {"start_frame": 839, "end_frame": 994, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot picked up blue and white packaged toilet paper from the shelf and decreased its height."}, {"start_frame": 994, "end_frame": 1128, "action_text": "place the blue packaged toilet paper into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up blue and white packaged toilet paper from the shelf and adjusted its posture by decreasing height and bending over."}, {"start_frame": 1128, "end_frame": 1297, "action_text": "place the white bagged toilet paper into the shopping cart", "skill": "Place", "language_memory": "The robot picked up blue packaged and white bagged toilet paper from the shelf and placed the blue package into the shopping cart."}, {"start_frame": 1297, "end_frame": 1420, "action_text": "as height increases, the waistline rises", "skill": "AdjustPosture", "language_memory": "The robot picked up blue packaged and white bagged toilet paper from the shelf and placed both items into the shopping cart."}, {"start_frame": 1420, "end_frame": 1620, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot picked up blue packaged and white bagged toilet paper from the shelf, adjusted its posture, and placed both items into the shopping cart."}, {"start_frame": 1620, "end_frame": 1877, "action_text": "pick up the blue packaged toilet paper from the shelf", "skill": "Pick", "language_memory": "The robot picked up blue packaged and white bagged toilet paper from the shelf and placed both items into the shopping cart."}, {"start_frame": 1877, "end_frame": 2050, "action_text": "hand over the blue packaged toilet paper", "skill": "Handover", "language_memory": "The robot has picked up and placed blue packaged and white bagged toilet paper into the shopping cart, and is currently picking up another blue packaged toilet paper from the shelf."}, {"start_frame": 2050, "end_frame": 2304, "action_text": "pick up the blue packaged toilet paper from the shelf", "skill": "Pick", "language_memory": "The robot picked up blue and white packaged toilet paper from the shelf, placed them into the shopping cart, and handed over the blue packaged toilet paper."}, {"start_frame": 2304, "end_frame": 2404, "action_text": "decrease height", "skill": "AdjustPosture", "language_memory": "The robot has picked up multiple blue packaged and white bagged toilet papers from the shelf and placed them into the shopping cart, with one blue package handed over."}, {"start_frame": 2404, "end_frame": 2580, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot has successfully restocked multiple packages of blue and white toilet paper into the shopping cart by picking them from the shelf and placing them inside."}, {"start_frame": 2580, "end_frame": 2703, "action_text": "place the blue packaged toilet paper into the shopping cart", "skill": "Place", "language_memory": "The robot has successfully restocked multiple packages of blue and white toilet paper into the shopping cart and is currently positioned near the shelf to continue restocking."}, {"start_frame": 2703, "end_frame": 2875, "action_text": "place the blue packaged toilet paper into the shopping cart", "skill": "Place", "language_memory": "The robot successfully retrieved multiple blue packaged and white bagged toilet papers from the shelf and placed them into the shopping cart."}, {"start_frame": 2875, "end_frame": 2925, "action_text": "as the height increases, the waist tilts upward", "skill": "AdjustPosture", "language_memory": "The robot successfully retrieved multiple blue packaged toilet papers and one white bagged toilet paper from the shelf and placed them into the shopping cart."}, {"start_frame": 2925, "end_frame": 3026, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot successfully retrieved multiple blue packaged toilet papers and one white bagged toilet paper from the shelf and placed all of them into the shopping cart."}], "detailed_task_instruction": ["Restock the packaged toilet paper by first picking up a blue package and a white bagged package from the shelf, lowering your height, bending over, and placing both items into the shopping cart. Next, retrieve another blue package from the shelf, lower your height, bend over, and place it into the cart. Finally, pick up a fourth blue package from the shelf, lower your height, bend over, and place it into the cart before adjusting your posture as you stand back up."]}
{"task_id": "task_3401", "episode_index": 1, "video_path": "task_3401/videos/chunk-000/{video_key}/episode_000001.mp4", "tasks": ["Restocking the packaged toilet paper."], "length": 2732, "action_config": [{"start_frame": 52, "end_frame": 120, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 120, "end_frame": 351, "action_text": "pick up the blue packaged toilet paper from the shelf", "skill": "Pick", "language_memory": "The robot has bent over."}, {"start_frame": 351, "end_frame": 575, "action_text": "pick up the white bagged toilet paper from the shelf", "skill": "Pick", "language_memory": "The robot has bent over and picked up the blue packaged toilet paper from the shelf."}, {"start_frame": 575, "end_frame": 696, "action_text": "decrease height", "skill": "AdjustPosture", "language_memory": "The robot has bent over and picked up the blue packaged toilet paper and the white bagged toilet paper from the shelf."}, {"start_frame": 696, "end_frame": 786, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot bent over, picked up the blue packaged toilet paper and the white bagged toilet paper from the shelf, and decreased its height."}, {"start_frame": 786, "end_frame": 842, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot has bent over, decreased its height, rotated its waist, and picked up both the blue packaged and white bagged toilet paper from the shelf."}, {"start_frame": 842, "end_frame": 1003, "action_text": "place the blue packaged toilet paper into the shopping cart", "skill": "Place", "language_memory": "The robot bent over, decreased height, rotated its waist, and picked up blue packaged and white bagged toilet paper from the shelf."}, {"start_frame": 1003, "end_frame": 1158, "action_text": "place the white packaged toilet paper into the shopping cart", "skill": "Place", "language_memory": "The robot bent over, picked up the blue packaged toilet paper and the white bagged toilet paper from the shelf, adjusted its height and waist rotation, and placed the blue packaged toilet paper into the shopping cart."}, {"start_frame": 1158, "end_frame": 1247, "action_text": "as the height increases, the waist rises upward", "skill": "AdjustPosture", "language_memory": "The robot bent over, picked up blue and white packaged toilet paper from the shelf, adjusted its height and waist rotation, and placed both items into the shopping cart."}, {"start_frame": 1247, "end_frame": 1421, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot bent over, picked up blue and white packaged toilet paper from the shelf, adjusted its height and waist rotation, and placed both items into the shopping cart."}, {"start_frame": 1421, "end_frame": 1679, "action_text": "pick up the blue packaged toilet paper from the shelf", "skill": "Pick", "language_memory": "The robot bent over, picked up blue and white packaged toilet paper from the shelf, adjusted its height and waist rotation, and placed both items into the shopping cart."}, {"start_frame": 1679, "end_frame": 1936, "action_text": "pick up the blue packaged toilet paper from the shelf", "skill": "Pick", "language_memory": "The robot has picked up and placed two blue packaged toilet papers and one white bagged toilet paper into the shopping cart."}, {"start_frame": 1936, "end_frame": 2067, "action_text": "decrease height", "skill": "AdjustPosture", "language_memory": "The robot has picked up multiple blue and white packaged toilet papers from the shelf and placed them into the shopping cart."}, {"start_frame": 2067, "end_frame": 2205, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot has successfully retrieved multiple blue and white packaged toilet paper items from the shelf and placed them into the shopping cart."}, {"start_frame": 2205, "end_frame": 2358, "action_text": "place the blue packaged toilet paper into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up multiple blue and white packaged toilet papers from the shelf and placed them into the shopping cart."}, {"start_frame": 2358, "end_frame": 2581, "action_text": "place the blue packaged toilet paper into the shopping cart", "skill": "Place", "language_memory": "The robot has successfully retrieved multiple blue and white packaged toilet papers from the shelf and placed them into the shopping cart."}, {"start_frame": 2581, "end_frame": 2646, "action_text": "as the height increases, the waist tilts upward", "skill": "AdjustPosture", "language_memory": "The robot has successfully retrieved multiple blue and white packaged toilet papers from the shelf and placed them into the shopping cart."}], "detailed_task_instruction": ["Restock the packaged toilet paper by bending over to pick up a blue packaged roll and a white bagged roll from the shelf, then placing both items into the shopping cart. Continue by bending over again to retrieve additional blue packaged toilet paper rolls from the shelf, placing each one into the shopping cart as you go. Ensure you adjust your height and waist position appropriately while reaching for items on the shelf and placing them into the cart to complete the restocking process."]}
{"task_id": "task_3401", "episode_index": 2, "video_path": "task_3401/videos/chunk-000/{video_key}/episode_000002.mp4", "tasks": ["Restocking the packaged toilet paper."], "length": 2746, "action_config": [{"start_frame": 32, "end_frame": 108, "action_text": "increase height", "skill": "AdjustPosture", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 108, "end_frame": 349, "action_text": "pick up the blue packaged toilet paper from the shelf", "skill": "Pick", "language_memory": "The robot has increased its height."}, {"start_frame": 349, "end_frame": 596, "action_text": "pick up the white bagged toilet paper from the shelf", "skill": "Pick", "language_memory": "The robot increased its height and picked up the blue packaged toilet paper from the shelf."}, {"start_frame": 596, "end_frame": 692, "action_text": "decrease height", "skill": "AdjustPosture", "language_memory": "The robot increased its height and picked up the blue packaged toilet paper and the white bagged toilet paper from the shelf."}, {"start_frame": 692, "end_frame": 793, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot adjusted its height, retrieved the blue packaged and white bagged toilet paper from the shelf, and returned to a lower position."}, {"start_frame": 793, "end_frame": 858, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot increased its height, picked up the blue packaged toilet paper and the white bagged toilet paper from the shelf, decreased its height, and rotated its waist."}, {"start_frame": 858, "end_frame": 1053, "action_text": "place the blue packaged toilet paper into the shopping cart", "skill": "Place", "language_memory": "The robot increased its height, picked up the blue packaged toilet paper and the white bagged toilet paper from the shelf, decreased its height, rotated its waist, and bent over."}, {"start_frame": 1053, "end_frame": 1294, "action_text": "place the white bagged toilet paper into the shopping cart", "skill": "Place", "language_memory": "The robot increased its height, picked up the blue packaged and white bagged toilet paper from the shelf, decreased its height, rotated its waist, bent over, and placed the blue packaged toilet paper into the shopping cart."}, {"start_frame": 1294, "end_frame": 1367, "action_text": "as the height increases, the waist tilts upward", "skill": "AdjustPosture", "language_memory": "The robot increased its height, picked up the blue packaged and white bagged toilet paper from the shelf, decreased its height, rotated its waist, bent over, and placed both items into the shopping cart."}, {"start_frame": 1367, "end_frame": 1679, "action_text": "pick up the blue packaged toilet paper from the shelf", "skill": "Pick", "language_memory": "The robot increased its height, picked up the blue packaged and white bagged toilet paper from the shelf, decreased its height, rotated its waist, bent over, and placed both items into the shopping cart."}, {"start_frame": 1679, "end_frame": 1772, "action_text": "hand over the blue packaged toilet paper", "skill": "Handover", "language_memory": "The robot increased height, picked up blue and white packaged toilet paper from the shelf, decreased height, rotated the waist, bent over, and placed both items into the shopping cart."}, {"start_frame": 1772, "end_frame": 1979, "action_text": "pick up the blue packaged toilet paper from the shelf", "skill": "Pick", "language_memory": "The robot increased height, picked up blue and white packaged toilet paper from the shelf, decreased height, rotated the waist, bent over, and placed both items into the shopping cart, then picked up the blue packaged toilet paper again and handed it over."}, {"start_frame": 1979, "end_frame": 2083, "action_text": "decrease height", "skill": "AdjustPosture", "language_memory": "The robot increased height, picked up blue and white packaged toilet paper from the shelf, decreased height, rotated the waist, bent over, and placed both items into the shopping cart, followed by additional attempts to pick up and hand over the blue packaged toilet paper."}, {"start_frame": 2083, "end_frame": 2154, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot increased height, picked up blue and white packaged toilet paper from the shelf, decreased height, rotated the waist, bent over, and placed both items into the shopping cart, then repeated picking up the blue packaged toilet paper, handed it over, picked it up again, and decreased height."}, {"start_frame": 2154, "end_frame": 2216, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot increased height, picked up blue and white packaged toilet paper from the shelf, decreased height, rotated the waist, bent over, and placed both items into the shopping cart, then repeated picking up the blue packaged toilet paper, handed it over, picked it up again, decreased height, and rotated the waist."}, {"start_frame": 2216, "end_frame": 2380, "action_text": "place the blue packaged toilet paper into the shopping cart", "skill": "Place", "language_memory": "The robot has increased and decreased its height, rotated its waist, and bent over to pick up and place blue packaged and white bagged toilet paper into the shopping cart, with one instance of handing over the blue packaged toilet paper."}, {"start_frame": 2380, "end_frame": 2575, "action_text": "place the blue packaged toilet paper into the shopping cart", "skill": "Place", "language_memory": "The robot increased height, picked up blue and white packaged toilet paper from the shelf, decreased height, rotated the waist, bent over, and placed the blue and white packaged toilet paper into the shopping cart, then repeated the process of picking up and placing the blue packaged toilet paper into the shopping cart."}, {"start_frame": 2575, "end_frame": 2634, "action_text": "as the height increases, the waist rises upward", "skill": "AdjustPosture", "language_memory": "The robot adjusted its height and waist orientation, retrieved multiple blue packaged toilet papers and one white bagged toilet paper from the shelf, and successfully placed all items into the shopping cart."}, {"start_frame": 2634, "end_frame": 2745, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot adjusted its height and waist orientation, retrieved multiple blue packaged toilet papers and one white bagged toilet paper from the shelf, and successfully placed all items into the shopping cart."}], "detailed_task_instruction": ["Restock the packaged toilet paper by first increasing your height, then picking up the blue packaged toilet paper and the white bagged toilet paper from the shelf. Decrease your height, rotate your waist, and bend over to place both items into the shopping cart. As your height increases, allow your waist to tilt upward. Next, pick up the blue packaged toilet paper again, hand it over, and then pick it up once more from the shelf. Decrease your height, rotate your waist, and bend over to place the blue packaged toilet paper into the shopping cart twice. Finally, as your height increases, let your waist rise upward and adjust your robot posture to complete the restocking."]}
{"task_id": "task_3401", "episode_index": 3, "video_path": "task_3401/videos/chunk-000/{video_key}/episode_000003.mp4", "tasks": ["Restocking the packaged toilet paper."], "length": 2650, "action_config": [{"start_frame": 75, "end_frame": 129, "action_text": "increase height", "skill": "AdjustPosture", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 129, "end_frame": 333, "action_text": "pick up the blue packaged toilet paper from the shelf", "skill": "Pick", "language_memory": "The robot has increased its height."}, {"start_frame": 333, "end_frame": 394, "action_text": "decrease height", "skill": "AdjustPosture", "language_memory": "The robot increased its height and picked up the blue packaged toilet paper from the shelf."}, {"start_frame": 394, "end_frame": 578, "action_text": "pick up the white bagged toilet paper from the shelf", "skill": "Pick", "language_memory": "The robot increased its height, picked up the blue packaged toilet paper from the shelf, and decreased its height."}, {"start_frame": 578, "end_frame": 633, "action_text": "decrease height", "skill": "AdjustPosture", "language_memory": "The robot increased its height, retrieved the blue packaged toilet paper and the white bagged toilet paper from the shelf, and then decreased its height."}, {"start_frame": 633, "end_frame": 782, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot increased its height, retrieved the blue packaged toilet paper and the white bagged toilet paper from the shelf, and subsequently decreased its height."}, {"start_frame": 782, "end_frame": 938, "action_text": "place the blue packaged toilet paper into the shopping cart", "skill": "Place", "language_memory": "The robot increased its height, picked up the blue packaged toilet paper and the white bagged toilet paper from the shelf, decreased its height, and bent over."}, {"start_frame": 938, "end_frame": 1133, "action_text": "place the white packaged toilet paper into the shopping cart", "skill": "Place", "language_memory": "The robot increased its height, picked up the blue packaged toilet paper and the white bagged toilet paper from the shelf, decreased its height, bent over, and placed the blue packaged toilet paper into the shopping cart."}, {"start_frame": 1133, "end_frame": 1196, "action_text": "as the height increases, the waist tilts upward", "skill": "AdjustPosture", "language_memory": "The robot increased its height, picked up blue and white packaged toilet paper from the shelf, decreased its height, bent over, and placed both items into the shopping cart."}, {"start_frame": 1196, "end_frame": 1363, "action_text": "increase height", "skill": "AdjustPosture", "language_memory": "The robot increased its height, picked up blue packaged and white bagged toilet paper from the shelf, decreased its height, bent over, and placed both items into the shopping cart."}, {"start_frame": 1363, "end_frame": 1553, "action_text": "pick up the blue packaged toilet paper from the shelf", "skill": "Pick", "language_memory": "The robot increased its height, picked up blue packaged and white bagged toilet paper from the shelf, decreased its height, bent over, and placed both items into the shopping cart before increasing its height again."}, {"start_frame": 1553, "end_frame": 1663, "action_text": "hand over the blue packaged toilet paper", "skill": "Handover", "language_memory": "The robot increased its height, picked up blue and white packaged toilet paper from the shelf, decreased its height, bent over, and placed both items into the shopping cart before increasing its height again and picking up another blue packaged toilet paper."}, {"start_frame": 1663, "end_frame": 1878, "action_text": "pick up the blue packaged toilet paper from the shelf", "skill": "Pick", "language_memory": "The robot increased its height, picked up blue and white packaged toilet paper from the shelf, decreased its height, bent over, and placed the blue and white packaged toilet paper into the shopping cart, then increased its height again, picked up the blue packaged toilet paper, and handed it over."}, {"start_frame": 1878, "end_frame": 1948, "action_text": "decrease height", "skill": "AdjustPosture", "language_memory": "The robot has increased its height, picked up blue and white packaged toilet paper from the shelf, decreased its height, bent over, and placed the blue and white packaged toilet paper into the shopping cart, and handed over the blue packaged toilet paper."}, {"start_frame": 1948, "end_frame": 2111, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot has increased its height, picked up blue and white packaged toilet paper from the shelf, decreased its height, bent over, and placed the blue and white packaged toilet paper into the shopping cart, and handed over the blue packaged toilet paper."}, {"start_frame": 2111, "end_frame": 2275, "action_text": "place the blue packaged toilet paper into the shopping cart", "skill": "Place", "language_memory": "The robot has increased its height, picked up blue and white packaged toilet paper from the shelf, decreased its height, bent over, and placed the blue and white packaged toilet paper into the shopping cart, and handed over the blue packaged toilet paper."}, {"start_frame": 2275, "end_frame": 2459, "action_text": "place the blue packaged toilet paper into the shopping cart", "skill": "Place", "language_memory": "The robot increased height, picked up blue and white packaged toilet paper from the shelf, decreased height, bent over, and placed the blue and white packaged toilet paper into the shopping cart, then repeated the process of increasing height, picking up blue packaged toilet paper, handing it over, picking it up again, decreasing height, bending over, and placing the blue packaged toilet paper into the shopping cart."}, {"start_frame": 2459, "end_frame": 2499, "action_text": "as height increases, the waistline rises", "skill": "AdjustPosture", "language_memory": "The robot has increased its height, picked up multiple blue packaged toilet papers and white bagged toilet papers from the shelf, adjusted its posture by bending over and tilting its waist, and successfully placed all collected items into the shopping cart."}, {"start_frame": 2499, "end_frame": 2649, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot has increased its height, picked up blue and white packaged toilet paper from the shelf, and placed multiple blue packaged toilet paper items into the shopping cart."}], "detailed_task_instruction": ["Restock the packaged toilet paper by first increasing your height, then picking up the blue packaged toilet paper from the shelf and decreasing your height. Next, pick up the white bagged toilet paper from the shelf, decrease your height, bend over, and place both the blue packaged and white bagged toilet paper into the shopping cart. As your height increases, allow your waist to tilt upward. Proceed to increase your height again, pick up another blue packaged toilet paper from the shelf, and hand it over. Immediately pick up another blue packaged toilet paper from the shelf, decrease your height, bend over, and place this blue packaged toilet paper into the shopping cart. Finally, as your height increases, let your waistline rise and adjust your robot posture to complete the restocking process."]}
{"task_id": "task_3401", "episode_index": 4, "video_path": "task_3401/videos/chunk-000/{video_key}/episode_000004.mp4", "tasks": ["Restocking the packaged toilet paper."], "length": 2718, "action_config": [{"start_frame": 31, "end_frame": 101, "action_text": "increase height", "skill": "AdjustPosture", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 101, "end_frame": 275, "action_text": "pick up the white bagged toilet paper from the shelf", "skill": "Pick", "language_memory": "The robot has increased its height."}, {"start_frame": 275, "end_frame": 524, "action_text": "pick up the white bagged toilet paper from the shelf", "skill": "Pick", "language_memory": "The robot increased its height and picked up the white bagged toilet paper from the shelf."}, {"start_frame": 524, "end_frame": 600, "action_text": "decrease height", "skill": "AdjustPosture", "language_memory": "The robot increased its height and picked up white bagged toilet paper from the shelf."}, {"start_frame": 600, "end_frame": 751, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot increased its height, picked up two white bagged toilet paper rolls from the shelf, and decreased its height."}, {"start_frame": 751, "end_frame": 836, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot increased its height, picked up white bagged toilet paper from the shelf, decreased its height, and rotated its waist."}, {"start_frame": 836, "end_frame": 1037, "action_text": "place the white bag of toilet paper into the shopping cart", "skill": "Place", "language_memory": "The robot adjusted its height, rotated its waist, and bent over to pick up white bagged toilet paper from the shelf."}, {"start_frame": 1037, "end_frame": 1263, "action_text": "place the white packaged toilet paper into the shopping cart", "skill": "Place", "language_memory": "The robot increased its height, picked up white bagged toilet paper from the shelf, adjusted its posture by decreasing height, rotating the waist, and bending over, and finally placed the white bag of toilet paper into the shopping cart."}, {"start_frame": 1263, "end_frame": 1316, "action_text": "as the height increases, the waist rises upward", "skill": "AdjustPosture", "language_memory": "The robot increased its height, picked up white bagged toilet paper from the shelf, adjusted its posture by decreasing height, rotating the waist, and bending over, and finally placed the white packaged toilet paper into the shopping cart."}, {"start_frame": 1316, "end_frame": 1455, "action_text": "increase height", "skill": "AdjustPosture", "language_memory": "The robot increased its height, picked up two white bagged toilet paper items from the shelf, adjusted its posture by decreasing height, rotating the waist, and bending over, and successfully placed both items into the shopping cart."}, {"start_frame": 1455, "end_frame": 1762, "action_text": "pick up the blue packaged toilet paper from the shelf", "skill": "Pick", "language_memory": "The robot increased its height, picked up two white bagged toilet paper items from the shelf, adjusted its posture by rotating the waist and bending over, and successfully placed both items into the shopping cart."}, {"start_frame": 1762, "end_frame": 1992, "action_text": "pick up the blue packaged toilet paper from the shelf", "skill": "Pick", "language_memory": "The robot increased its height, picked up white and blue packaged toilet paper from the shelf, adjusted its posture by rotating the waist and bending over, and placed the white packaged toilet paper into the shopping cart."}, {"start_frame": 1992, "end_frame": 2122, "action_text": "decrease height", "skill": "AdjustPosture", "language_memory": "The robot increased its height, picked up white and blue packaged toilet paper from the shelf, rotated its waist, bent over, and placed the white and blue packaged toilet paper into the shopping cart."}, {"start_frame": 2122, "end_frame": 2251, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot increased its height, picked up white and blue packaged toilet paper from the shelf, adjusted its posture by rotating the waist and bending over, and placed the items into the shopping cart."}, {"start_frame": 2251, "end_frame": 2381, "action_text": "place the blue packaged toilet paper into the shopping cart", "skill": "Place", "language_memory": "The robot increased its height, picked up white and blue packaged toilet paper from the shelf, rotated its waist, bent over, and placed the white and blue packaged toilet paper into the shopping cart."}, {"start_frame": 2381, "end_frame": 2539, "action_text": "place the blue packaged toilet paper into the shopping cart", "skill": "Place", "language_memory": "The robot increased its height, picked up white and blue packaged toilet paper from the shelf, adjusted its posture, and placed all retrieved items into the shopping cart."}, {"start_frame": 2539, "end_frame": 2584, "action_text": "height increases while the waistline rises", "skill": "AdjustPosture", "language_memory": "The robot increased its height, picked up white and blue packaged toilet paper from the shelf, adjusted its posture, and placed both items into the shopping cart."}, {"start_frame": 2584, "end_frame": 2663, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot increased its height, picked up white and blue packaged toilet paper from the shelf, adjusted its posture, and placed both items into the shopping cart."}, {"start_frame": 2663, "end_frame": 2717, "action_text": "place the reset position", "skill": "Place", "language_memory": "The robot increased its height, picked up white and blue packaged toilet paper from the shelf, adjusted its posture by rotating the waist and bending over, and successfully placed both types of packaged toilet paper into the shopping cart."}], "detailed_task_instruction": ["Restock the packaged toilet paper by first increasing your height and rotating your waist before bending over to pick up a white bagged toilet paper from the shelf. Place this white bag into the shopping cart, then decrease your height and rotate your waist again. Next, increase your height while your waist rises, bend over to pick up a blue packaged toilet paper from the shelf, and place it into the shopping cart. Finally, decrease your height, rotate your waist, and return to the reset position to complete the restocking of both the white and blue packaged toilet papers."]}
{"task_id": "task_3401", "episode_index": 5, "video_path": "task_3401/videos/chunk-000/{video_key}/episode_000005.mp4", "tasks": ["Restocking the packaged toilet paper."], "length": 2475, "action_config": [{"start_frame": 0, "end_frame": 81, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 81, "end_frame": 239, "action_text": "pick up the white bagged toilet paper from the shelf", "skill": "Pick", "language_memory": "The robot has bent over."}, {"start_frame": 239, "end_frame": 374, "action_text": "hand over the white bagged toilet paper", "skill": "Handover", "language_memory": "The robot bent over and picked up the white bagged toilet paper from the shelf."}, {"start_frame": 374, "end_frame": 538, "action_text": "pick up the white bagged toilet paper from the shelf", "skill": "Pick", "language_memory": "The robot bent over, picked up the white bagged toilet paper from the shelf, and handed it over."}, {"start_frame": 538, "end_frame": 606, "action_text": "decrease height", "skill": "AdjustPosture", "language_memory": "The robot bent over, picked up white bagged toilet paper from the shelf, and handed it over."}, {"start_frame": 606, "end_frame": 743, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot bent over, picked up white bagged toilet paper from the shelf, handed it over, and decreased its height."}, {"start_frame": 743, "end_frame": 917, "action_text": "place the white bagged toilet paper into the shopping cart", "skill": "Place", "language_memory": "The robot bent over, picked up white bagged toilet paper from the shelf, and handed it over."}, {"start_frame": 917, "end_frame": 1061, "action_text": "place the white packaged toilet paper into the shopping cart", "skill": "Place", "language_memory": "The robot bent over, picked up white bagged toilet paper from the shelf, handed it over, and placed it into the shopping cart."}, {"start_frame": 1061, "end_frame": 1144, "action_text": "as the height increases, the waist rises upward", "skill": "AdjustPosture", "language_memory": "The robot picked up white bagged toilet paper from the shelf and placed it into the shopping cart."}, {"start_frame": 1144, "end_frame": 1240, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up white bagged toilet paper from the shelf and placed it into the shopping cart."}, {"start_frame": 1240, "end_frame": 1278, "action_text": "increase height", "skill": "AdjustPosture", "language_memory": "The robot bent over, picked up white bagged toilet paper from the shelf, handed it over, and placed the items into the shopping cart while adjusting its height and rotating its waist."}, {"start_frame": 1278, "end_frame": 1458, "action_text": "pick up the blue packaged toilet paper from the shelf", "skill": "Pick", "language_memory": "The robot picked up white bagged toilet paper from the shelf and placed it into the shopping cart."}, {"start_frame": 1458, "end_frame": 1563, "action_text": "hand over the white bagged toilet paper", "skill": "Handover", "language_memory": "The robot bent over, picked up white and blue bagged toilet paper from the shelf, handed over the white bagged toilet paper, decreased height, placed the white and blue packaged toilet paper into the shopping cart, rotated the waist, and increased height."}, {"start_frame": 1563, "end_frame": 1825, "action_text": "pick up the blue packaged toilet paper from the shelf", "skill": "Pick", "language_memory": "The robot picked up white and blue packaged toilet paper from the shelf and placed them into the shopping cart."}, {"start_frame": 1825, "end_frame": 1903, "action_text": "decrease height", "skill": "AdjustPosture", "language_memory": "The robot has picked up multiple white and blue packaged toilet papers from the shelf and placed them into the shopping cart."}, {"start_frame": 1903, "end_frame": 1975, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot successfully retrieved multiple packages of white and blue toilet paper from the shelf and placed them into the shopping cart."}, {"start_frame": 1975, "end_frame": 2025, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot successfully retrieved multiple packages of white and blue toilet paper from the shelf and placed them into the shopping cart."}, {"start_frame": 2025, "end_frame": 2128, "action_text": "place the blue packaged toilet paper into the shopping cart", "skill": "Place", "language_memory": "The robot has successfully retrieved multiple packages of white and blue toilet paper from the shelf and placed them into the shopping cart."}, {"start_frame": 2128, "end_frame": 2284, "action_text": "place the blue packaged toilet paper into the shopping cart", "skill": "Place", "language_memory": "The robot successfully retrieved multiple white bagged and blue packaged toilet paper items from the shelf and placed them into the shopping cart."}, {"start_frame": 2284, "end_frame": 2356, "action_text": "as height increases, the waistline rises", "skill": "AdjustPosture", "language_memory": "The robot bent over, picked up white and blue packaged toilet paper from the shelf, handed over the white bagged toilet paper, and placed both the white and blue packaged toilet paper into the shopping cart."}, {"start_frame": 2356, "end_frame": 2474, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot successfully retrieved multiple white and blue packaged toilet papers from the shelf and placed them into the shopping cart."}], "detailed_task_instruction": ["Bend over to reach the shelf and pick up a white bagged toilet paper, then hand it over before placing it into the shopping cart. As you rise, adjust your waist posture. Next, pick up a blue packaged toilet paper from the shelf, hand it over, and place it into the shopping cart. Throughout the process, manage your height and waist rotation to maintain balance while restocking both the white bagged and blue packaged toilet paper items into the cart."]}
{"task_id": "task_3401", "episode_index": 6, "video_path": "task_3401/videos/chunk-000/{video_key}/episode_000006.mp4", "tasks": ["Restocking the packaged toilet paper."], "length": 2858, "action_config": [{"start_frame": 0, "end_frame": 75, "action_text": "decrease height", "skill": "AdjustPosture", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 75, "end_frame": 272, "action_text": "pick up the white bagged toilet paper from the shelf", "skill": "Pick", "language_memory": "The robot has decreased its height."}, {"start_frame": 272, "end_frame": 415, "action_text": "hand over the white bagged toilet paper", "skill": "Handover", "language_memory": "The robot decreased its height and picked up the white bagged toilet paper from the shelf."}, {"start_frame": 415, "end_frame": 605, "action_text": "pick up the white bagged toilet paper from the shelf", "skill": "Pick", "language_memory": "The robot decreased its height, picked up the white bagged toilet paper from the shelf, and handed it over."}, {"start_frame": 605, "end_frame": 694, "action_text": "decrease height", "skill": "AdjustPosture", "language_memory": "The robot decreased its height, picked up white bagged toilet paper from the shelf, and handed it over."}, {"start_frame": 694, "end_frame": 787, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot decreased its height, picked up two white bagged toilet paper items from the shelf, and handed one over."}, {"start_frame": 787, "end_frame": 863, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot decreased its height, rotated its waist, and successfully picked up and handed over white bagged toilet paper from the shelf."}, {"start_frame": 863, "end_frame": 1022, "action_text": "place the white bagged toilet paper into the shopping cart", "skill": "Place", "language_memory": "The robot decreased its height, rotated its waist, and bent over while picking up and handing over white bagged toilet paper from the shelf."}, {"start_frame": 1022, "end_frame": 1257, "action_text": "place the white bagged toilet paper into the shopping cart", "skill": "Place", "language_memory": "The robot decreased its height, picked up white bagged toilet paper from the shelf, handed it over, picked up another white bagged toilet paper from the shelf, rotated its waist, bent over, and placed the white bagged toilet paper into the shopping cart."}, {"start_frame": 1257, "end_frame": 1346, "action_text": "as the height increases, the waist rises upward", "skill": "AdjustPosture", "language_memory": "The robot decreased its height, rotated its waist, and bent over to pick up white bagged toilet paper from the shelf, then handed it over and placed the items into the shopping cart."}, {"start_frame": 1346, "end_frame": 1501, "action_text": "increase height", "skill": "AdjustPosture", "language_memory": "The robot decreased its height, picked up white bagged toilet paper from the shelf, handed it over, picked up another white bagged toilet paper, rotated its waist, bent over, and placed the white bagged toilet paper into the shopping cart."}, {"start_frame": 1501, "end_frame": 2054, "action_text": "pick up the blue packaged toilet paper from the shelf", "skill": "Pick", "language_memory": "The robot decreased its height, picked up white bagged toilet paper from the shelf, handed it over, picked up another white bagged toilet paper, rotated its waist, bent over, and placed both white bagged toilet papers into the shopping cart before increasing its height."}, {"start_frame": 2054, "end_frame": 2239, "action_text": "pick up the blue packaged toilet paper from the shelf", "skill": "Pick", "language_memory": "The robot decreased height, picked up and handed over a white bagged toilet paper, picked up another white bagged toilet paper, adjusted its posture by rotating the waist and bending over, and placed both white bagged toilet papers into the shopping cart before increasing height and picking up a blue packaged toilet paper."}, {"start_frame": 2239, "end_frame": 2335, "action_text": "decrease height", "skill": "AdjustPosture", "language_memory": "The robot decreased height, picked up white and blue packaged toilet paper from the shelf, handed over the white bagged toilet paper, rotated the waist, bent over, and placed the white bagged toilet paper into the shopping cart."}, {"start_frame": 2335, "end_frame": 2464, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot decreased its height, picked up white and blue packaged toilet paper from the shelf, handed over the white bagged toilet paper, rotated its waist, bent over, and placed the white and blue packaged toilet paper into the shopping cart."}, {"start_frame": 2464, "end_frame": 2592, "action_text": "place the blue packaged toilet paper into the shopping cart", "skill": "Place", "language_memory": "The robot has decreased height, picked up white and blue packaged toilet paper from the shelf, handed over the white bagged toilet paper, rotated the waist, bent over, and placed the white bagged toilet paper into the shopping cart."}, {"start_frame": 2592, "end_frame": 2707, "action_text": "place the blue packaged toilet paper into the shopping cart", "skill": "Place", "language_memory": "The robot decreased height, picked up white and blue packaged toilet paper from the shelf, and placed both items into the shopping cart."}, {"start_frame": 2707, "end_frame": 2749, "action_text": "as the height increases, the waist rises upward", "skill": "AdjustPosture", "language_memory": "The robot decreased height, picked up white and blue packaged toilet paper from the shelf, and placed both items into the shopping cart."}, {"start_frame": 2749, "end_frame": 2823, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot decreased height, picked up white and blue packaged toilet paper from the shelf, and placed both items into the shopping cart."}, {"start_frame": 2823, "end_frame": 2857, "action_text": "place the reset position", "skill": "Place", "language_memory": "The robot has successfully restocked the shopping cart with multiple white bagged and blue packaged toilet paper items by adjusting its height, rotating its waist, bending over, and placing the items into the cart."}], "detailed_task_instruction": ["Restock the packaged toilet paper by first lowering your height, bending over, and rotating your waist to pick up a white bagged toilet paper from the shelf. Hand the item over, then place it into the shopping cart. As your height increases and your waist rises, return to a reset position. Next, lower your height again, bend over, and pick up a blue packaged toilet paper from the shelf. Place this item into the shopping cart as well. Finally, as your height increases and your waist rises, rotate your waist and return to the reset position to complete the restocking of both the white bagged and blue packaged toilet paper."]}
{"task_id": "task_3401", "episode_index": 7, "video_path": "task_3401/videos/chunk-000/{video_key}/episode_000007.mp4", "tasks": ["Restocking the packaged toilet paper."], "length": 2719, "action_config": [{"start_frame": 29, "end_frame": 93, "action_text": "increase height", "skill": "AdjustPosture", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 93, "end_frame": 286, "action_text": "pick up the white bagged toilet paper from the shelf", "skill": "Pick", "language_memory": "The robot has increased its height."}, {"start_frame": 286, "end_frame": 423, "action_text": "hand over the white bagged toilet paper", "skill": "Handover", "language_memory": "The robot increased its height and picked up the white bagged toilet paper from the shelf."}, {"start_frame": 423, "end_frame": 606, "action_text": "pick up the white bagged toilet paper from the shelf", "skill": "Pick", "language_memory": "The robot increased its height, picked up the white bagged toilet paper from the shelf, and handed it over."}, {"start_frame": 606, "end_frame": 666, "action_text": "decrease height", "skill": "AdjustPosture", "language_memory": "The robot increased its height, picked up white bagged toilet paper from the shelf, and handed it over."}, {"start_frame": 666, "end_frame": 859, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot increased its height, picked up and handed over a white bagged toilet paper, picked up another white bagged toilet paper from the shelf, and subsequently decreased its height."}, {"start_frame": 859, "end_frame": 1111, "action_text": "place the white bagged toilet paper into the shopping cart", "skill": "Place", "language_memory": "The robot increased its height, picked up and handed over a white bagged toilet paper, picked up another white bagged toilet paper, and then decreased its height while bending over."}, {"start_frame": 1111, "end_frame": 1309, "action_text": "place the white bagged toilet paper into the shopping cart", "skill": "Place", "language_memory": "The robot increased its height, picked up and handed over a white bagged toilet paper, picked up another white bagged toilet paper from the shelf, decreased its height, bent over, and placed the white bagged toilet paper into the shopping cart."}, {"start_frame": 1309, "end_frame": 1386, "action_text": "as the height increases, the waist rises upward", "skill": "AdjustPosture", "language_memory": "The robot increased its height, picked up white bagged toilet paper from the shelf, handed it over, picked up another white bagged toilet paper from the shelf, decreased its height, bent over, and placed the white bagged toilet paper into the shopping cart."}, {"start_frame": 1386, "end_frame": 1523, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot increased its height, picked up white bagged toilet paper from the shelf, handed it over, picked up another white bagged toilet paper from the shelf, decreased its height, bent over, and placed the white bagged toilet paper into the shopping cart."}, {"start_frame": 1523, "end_frame": 1740, "action_text": "pick up the white bagged toilet paper from the shelf", "skill": "Pick", "language_memory": "The robot increased its height, picked up white bagged toilet paper from the shelf, handed it over, picked up another white bagged toilet paper from the shelf, decreased its height, bent over, and placed the white bagged toilet paper into the shopping cart."}, {"start_frame": 1740, "end_frame": 1774, "action_text": "increase height", "skill": "AdjustPosture", "language_memory": "The robot increased height, picked up multiple white bagged toilet papers from the shelf, handed one over, decreased height, bent over, and placed several white bagged toilet papers into the shopping cart."}, {"start_frame": 1774, "end_frame": 1979, "action_text": "pick up the blue packaged toilet paper from the shelf", "skill": "Pick", "language_memory": "The robot has increased its height, picked up multiple white bagged toilet paper items from the shelf, handed one over, decreased its height, bent over, and placed several white bagged toilet paper items into the shopping cart."}, {"start_frame": 1979, "end_frame": 2065, "action_text": "decrease height", "skill": "AdjustPosture", "language_memory": "The robot increased height, picked up white and blue packaged toilet paper from the shelf, handed over the white bagged toilet paper, and placed multiple white bagged toilet paper items into the shopping cart."}, {"start_frame": 2065, "end_frame": 2225, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot increased height, picked up white and blue packaged toilet paper from the shelf, handed over the white bagged toilet paper, and placed multiple white bagged toilet paper items into the shopping cart."}, {"start_frame": 2225, "end_frame": 2361, "action_text": "place the blue packaged toilet paper into the shopping cart", "skill": "Place", "language_memory": "The robot has increased and decreased its height multiple times, bent over several times, picked up white and blue packaged toilet paper from the shelf, handed over the white bagged toilet paper, and placed multiple instances of white bagged toilet paper into the shopping cart."}, {"start_frame": 2361, "end_frame": 2553, "action_text": "place the white packaged toilet paper into the shopping cart", "skill": "Place", "language_memory": "The robot increased height, picked up white bagged and blue packaged toilet paper from the shelf, and placed them into the shopping cart."}, {"start_frame": 2553, "end_frame": 2606, "action_text": "as the height increases, the waist rises upward", "skill": "AdjustPosture", "language_memory": "The robot increased height, bent over, and picked up multiple white and blue packaged toilet papers from the shelf, then placed them into the shopping cart."}], "detailed_task_instruction": ["Restock the packaged toilet paper by first bending down to pick up a white bagged toilet paper from the shelf, then standing up to place it into the shopping cart. Next, bend down again to retrieve a second white bagged toilet paper, stand up, and place it in the cart. Finally, bend down to pick up a blue packaged toilet paper from the shelf, stand up, and place it into the shopping cart. Ensure all items are securely positioned in the cart before finishing the restocking process."]}
{"task_id": "task_3401", "episode_index": 8, "video_path": "task_3401/videos/chunk-000/{video_key}/episode_000008.mp4", "tasks": ["Restocking the packaged toilet paper."], "length": 2719, "action_config": [{"start_frame": 0, "end_frame": 88, "action_text": "increase height", "skill": "AdjustPosture", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 88, "end_frame": 340, "action_text": "pick up the blue packaged toilet paper from the shelf", "skill": "Pick", "language_memory": "The robot has increased its height."}, {"start_frame": 340, "end_frame": 484, "action_text": "decrease height", "skill": "AdjustPosture", "language_memory": "The robot increased its height and picked up the blue packaged toilet paper from the shelf."}, {"start_frame": 484, "end_frame": 669, "action_text": "pick up the white bagged toilet paper from the shelf", "skill": "Pick", "language_memory": "The robot increased its height, picked up the blue packaged toilet paper from the shelf, and decreased its height."}, {"start_frame": 669, "end_frame": 861, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot increased its height, retrieved the blue packaged toilet paper and the white bagged toilet paper from the shelf, and then decreased its height."}, {"start_frame": 861, "end_frame": 1056, "action_text": "place the blue packaged toilet paper into the shopping cart", "skill": "Place", "language_memory": "The robot increased its height, picked up the blue packaged toilet paper and the white bagged toilet paper from the shelf, decreased its height, and bent over."}, {"start_frame": 1056, "end_frame": 1262, "action_text": "place the white bagged toilet paper into the shopping cart", "skill": "Place", "language_memory": "The robot increased its height, picked up the blue packaged toilet paper and the white bagged toilet paper from the shelf, decreased its height, bent over, and placed the blue packaged toilet paper into the shopping cart."}, {"start_frame": 1262, "end_frame": 1336, "action_text": "as the height increases, the waist rises upward", "skill": "AdjustPosture", "language_memory": "The robot increased its height, picked up blue packaged and white bagged toilet paper from the shelf, decreased its height, bent over, and placed both items into the shopping cart."}, {"start_frame": 1336, "end_frame": 1480, "action_text": "increase height", "skill": "AdjustPosture", "language_memory": "The robot increased its height, picked up blue packaged and white bagged toilet paper from the shelf, decreased its height, bent over, and placed both items into the shopping cart."}, {"start_frame": 1480, "end_frame": 1786, "action_text": "pick up the blue packaged toilet paper from the shelf", "skill": "Pick", "language_memory": "The robot increased its height, picked up blue packaged and white bagged toilet paper from the shelf, placed both items into the shopping cart, and adjusted its posture."}, {"start_frame": 1786, "end_frame": 2056, "action_text": "pick up the blue packaged toilet paper from the shelf", "skill": "Pick", "language_memory": "The robot has increased its height, picked up blue packaged and white bagged toilet paper from the shelf, bent over, and placed both items into the shopping cart."}, {"start_frame": 2056, "end_frame": 2129, "action_text": "decrease height", "skill": "AdjustPosture", "language_memory": "The robot has increased its height, picked up multiple blue packaged toilet papers and a white bagged toilet paper from the shelf, and placed all of them into the shopping cart."}, {"start_frame": 2129, "end_frame": 2265, "action_text": "decrease height", "skill": "AdjustPosture", "language_memory": "The robot has increased its height, picked up multiple blue packaged toilet papers and a white bagged toilet paper from the shelf, and placed all of them into the shopping cart."}, {"start_frame": 2265, "end_frame": 2402, "action_text": "place the blue packaged toilet paper into the shopping cart", "skill": "Place", "language_memory": "The robot has successfully retrieved multiple blue packaged toilet papers and white bagged toilet papers from the shelf and placed them into the shopping cart."}, {"start_frame": 2402, "end_frame": 2543, "action_text": "place the blue packaged toilet paper into the shopping cart", "skill": "Place", "language_memory": "The robot has successfully retrieved multiple blue packaged toilet papers and one white bagged toilet paper from the shelf and placed all of them into the shopping cart."}, {"start_frame": 2543, "end_frame": 2601, "action_text": "as the height increases, the waist rises upward", "skill": "AdjustPosture", "language_memory": "The robot has increased its height, picked up multiple blue packaged toilet papers and one white bagged toilet paper from the shelf, and placed all of them into the shopping cart."}, {"start_frame": 2601, "end_frame": 2718, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot has increased its height, picked up multiple blue packaged toilet papers and one white bagged toilet paper from the shelf, and placed all of them into the shopping cart."}], "detailed_task_instruction": ["Restock the shopping cart with packaged toilet paper by first increasing your height, then picking up a blue packaged item and a white bagged item from the shelf while adjusting your posture as needed. Place both items into the cart, then return to the shelf to retrieve additional blue packaged toilet paper. As you reach for these items, manage your height and waist position to maintain balance, ensuring all selected products are successfully transferred from the shelf into the shopping cart."]}
{"task_id": "task_3401", "episode_index": 9, "video_path": "task_3401/videos/chunk-000/{video_key}/episode_000009.mp4", "tasks": ["Restocking the packaged toilet paper."], "length": 2850, "action_config": [{"start_frame": 43, "end_frame": 215, "action_text": "pick up the white bagged toilet paper from the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 215, "end_frame": 384, "action_text": "increase height", "skill": "AdjustPosture", "language_memory": "The robot has picked up the white bagged toilet paper from the shelf."}, {"start_frame": 384, "end_frame": 610, "action_text": "pick up the blue packaged toilet paper from the shelf", "skill": "Pick", "language_memory": "The robot has picked up the white bagged toilet paper from the shelf and increased its height."}, {"start_frame": 610, "end_frame": 715, "action_text": "decrease height", "skill": "AdjustPosture", "language_memory": "The robot has picked up white bagged and blue packaged toilet paper from the shelf and increased its height."}, {"start_frame": 715, "end_frame": 809, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up white and blue packaged toilet paper from the shelf while adjusting its height."}, {"start_frame": 809, "end_frame": 877, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot retrieved white and blue packaged toilet paper from the shelf, adjusted its height, and rotated its waist."}, {"start_frame": 877, "end_frame": 1030, "action_text": "place the blue packaged toilet paper into the shopping cart", "skill": "Place", "language_memory": "The robot retrieved white and blue packaged toilet paper from the shelf and adjusted its posture by changing height, rotating the waist, and bending over."}, {"start_frame": 1030, "end_frame": 1273, "action_text": "place the white packaged toilet paper into the shopping cart", "skill": "Place", "language_memory": "The robot picked up white and blue packaged toilet paper from the shelf and placed the blue package into the shopping cart."}, {"start_frame": 1273, "end_frame": 1354, "action_text": "as the height increases, the waist rises upward", "skill": "AdjustPosture", "language_memory": "The robot picked up white and blue packaged toilet paper from the shelf and placed both into the shopping cart."}, {"start_frame": 1354, "end_frame": 1503, "action_text": "increase height", "skill": "AdjustPosture", "language_memory": "The robot retrieved white and blue packaged toilet paper from the shelf and successfully placed both items into the shopping cart."}, {"start_frame": 1503, "end_frame": 1814, "action_text": "pick up the blue packaged toilet paper from the shelf", "skill": "Pick", "language_memory": "The robot retrieved white and blue packaged toilet paper from the shelf and placed both items into the shopping cart."}, {"start_frame": 1814, "end_frame": 1905, "action_text": "hand over the blue packaged toilet paper", "skill": "Handover", "language_memory": "The robot retrieved white and blue packaged toilet paper from the shelf, adjusted its posture, and placed both items into the shopping cart before picking up another blue package."}, {"start_frame": 1905, "end_frame": 2147, "action_text": "pick up the blue packaged toilet paper from the shelf", "skill": "Pick", "language_memory": "The robot retrieved white and blue packaged toilet paper from the shelf, placed them into the shopping cart, and handed over the blue packaged toilet paper."}, {"start_frame": 2147, "end_frame": 2301, "action_text": "decrease height", "skill": "AdjustPosture", "language_memory": "The robot has retrieved multiple packages of white and blue toilet paper from the shelf and successfully placed them into the shopping cart."}, {"start_frame": 2301, "end_frame": 2428, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot retrieved multiple packages of white and blue toilet paper from the shelf, adjusted its height and waist orientation, and successfully placed the items into the shopping cart."}, {"start_frame": 2428, "end_frame": 2571, "action_text": "place the blue packaged toilet paper into the shopping cart", "skill": "Place", "language_memory": "The robot has successfully retrieved multiple packages of white and blue toilet paper from the shelf and placed them into the shopping cart, while adjusting its height and posture throughout the process."}, {"start_frame": 2571, "end_frame": 2715, "action_text": "place the blue packaged toilet paper into the shopping cart", "skill": "Place", "language_memory": "The robot has successfully retrieved multiple packages of white and blue toilet paper from the shelf and placed them into the shopping cart, while adjusting its height and posture throughout the process."}, {"start_frame": 2715, "end_frame": 2749, "action_text": "as the height increases, the waist rises upward", "skill": "AdjustPosture", "language_memory": "The robot has successfully retrieved multiple packages of white and blue toilet paper from the shelf and placed them into the shopping cart."}, {"start_frame": 2749, "end_frame": 2849, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot has successfully retrieved multiple packages of white and blue toilet paper from the shelf and placed them into the shopping cart, while adjusting its height and posture throughout the process."}], "detailed_task_instruction": ["Restock the packaged toilet paper by first picking up the white bagged toilet paper from the shelf, adjusting your height and waist, and placing it into the shopping cart. Next, retrieve the blue packaged toilet paper from the shelf, lower your height, and place it in the cart. Continue this process by picking up additional blue packaged toilet paper from the shelf, adjusting your posture as needed, and placing each item into the shopping cart until the restocking is complete. Ensure all items are securely placed in the cart before finishing the task."]}
{"task_id": "task_3401", "episode_index": 10, "video_path": "task_3401/videos/chunk-000/{video_key}/episode_000010.mp4", "tasks": ["Restocking the packaged toilet paper."], "length": 3194, "action_config": [{"start_frame": 24, "end_frame": 79, "action_text": "increase height", "skill": "AdjustPosture", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 79, "end_frame": 452, "action_text": "pick up the blue packaged toilet paper from the shelf", "skill": "Pick", "language_memory": "The robot has increased its height."}, {"start_frame": 452, "end_frame": 685, "action_text": "decrease height", "skill": "AdjustPosture", "language_memory": "The robot increased its height and picked up the blue packaged toilet paper from the shelf."}, {"start_frame": 685, "end_frame": 861, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot increased its height, picked up the blue packaged toilet paper from the shelf, and decreased its height."}, {"start_frame": 861, "end_frame": 975, "action_text": "place the blue packaged toilet paper into the shopping cart", "skill": "Place", "language_memory": "The robot increased its height, picked up the blue packaged toilet paper from the shelf, decreased its height, and bent over."}, {"start_frame": 975, "end_frame": 1047, "action_text": "as the height increases, the waist rises upward", "skill": "AdjustPosture", "language_memory": "The robot increased its height, picked up the blue packaged toilet paper from the shelf, decreased its height, bent over, and placed the blue packaged toilet paper into the shopping cart."}, {"start_frame": 1047, "end_frame": 1150, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot increased its height, picked up the blue packaged toilet paper from the shelf, decreased its height, bent over, and placed the blue packaged toilet paper into the shopping cart."}, {"start_frame": 1150, "end_frame": 1200, "action_text": "decrease height", "skill": "AdjustPosture", "language_memory": "The robot increased its height, picked up the blue packaged toilet paper from the shelf, decreased its height, bent over, and placed the item into the shopping cart before adjusting its waist posture."}, {"start_frame": 1200, "end_frame": 1453, "action_text": "pick up the blue packaged toilet paper from the shelf", "skill": "Pick", "language_memory": "The robot increased its height, picked up the blue packaged toilet paper from the shelf, decreased its height, bent over, and placed the blue packaged toilet paper into the shopping cart."}, {"start_frame": 1453, "end_frame": 1513, "action_text": "decrease height", "skill": "AdjustPosture", "language_memory": "The robot increased height, picked up the blue packaged toilet paper from the shelf, decreased height, bent over, placed the blue packaged toilet paper into the shopping cart, adjusted waist height and rotation, and picked up another blue packaged toilet paper from the shelf."}, {"start_frame": 1513, "end_frame": 1658, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot increased height, picked up blue packaged toilet paper from the shelf, decreased height, bent over, placed the blue packaged toilet paper into the shopping cart, rotated the waist, and decreased height again."}, {"start_frame": 1658, "end_frame": 1761, "action_text": "place the blue packaged toilet paper into the shopping cart", "skill": "Place", "language_memory": "The robot has increased and decreased its height multiple times, picked up two blue packaged toilet paper items from the shelf, placed one into the shopping cart, and adjusted its posture."}, {"start_frame": 1761, "end_frame": 1816, "action_text": "as the height increases, the waist rises upward", "skill": "AdjustPosture", "language_memory": "The robot successfully retrieved two blue packaged toilet paper items from the shelf and placed them into the shopping cart."}, {"start_frame": 1816, "end_frame": 1944, "action_text": "increase height", "skill": "AdjustPosture", "language_memory": "The robot successfully retrieved multiple blue packaged toilet paper items from the shelf and placed them into the shopping cart."}, {"start_frame": 1944, "end_frame": 2132, "action_text": "pick up the blue packaged toilet paper from the shelf", "skill": "Pick", "language_memory": "The robot successfully retrieved two blue packaged toilet paper items from the shelf and placed them into the shopping cart."}, {"start_frame": 2132, "end_frame": 2197, "action_text": "decrease height", "skill": "AdjustPosture", "language_memory": "The robot has successfully retrieved multiple blue packaged toilet paper items from the shelf and placed them into the shopping cart."}, {"start_frame": 2197, "end_frame": 2281, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has successfully retrieved multiple blue packaged toilet paper items from the shelf and placed them into the shopping cart."}, {"start_frame": 2281, "end_frame": 2325, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot has successfully retrieved multiple blue packaged toilet paper items from the shelf and placed them into the shopping cart."}, {"start_frame": 2325, "end_frame": 2433, "action_text": "place the blue packaged toilet paper into the shopping cart", "skill": "Place", "language_memory": "The robot has successfully retrieved multiple blue packaged toilet paper items from the shelf and placed them into the shopping cart."}, {"start_frame": 2433, "end_frame": 2485, "action_text": "as the height increases, the waist rises upward", "skill": "AdjustPosture", "language_memory": "The robot has successfully retrieved multiple blue packaged toilet paper items from the shelf and placed them into the shopping cart."}, {"start_frame": 2485, "end_frame": 2575, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has successfully retrieved multiple blue packaged toilet paper items from the shelf and placed them into the shopping cart."}, {"start_frame": 2575, "end_frame": 2611, "action_text": "increase height", "skill": "AdjustPosture", "language_memory": "The robot has successfully retrieved multiple blue packaged toilet paper items from the shelf and placed them into the shopping cart."}, {"start_frame": 2611, "end_frame": 2827, "action_text": "pick up the blue packaged toilet paper from the shelf", "skill": "Pick", "language_memory": "The robot has successfully retrieved multiple blue packaged toilet paper items from the shelf and placed them into the shopping cart."}, {"start_frame": 2827, "end_frame": 2878, "action_text": "decrease height", "skill": "AdjustPosture", "language_memory": "The robot has successfully restocked multiple blue packaged toilet paper items into the shopping cart by repeatedly picking them up from the shelf and placing them inside."}, {"start_frame": 2878, "end_frame": 2941, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has successfully restocked multiple blue packaged toilet paper items into the shopping cart by repeatedly picking them up from the shelf and placing them inside."}, {"start_frame": 2941, "end_frame": 2979, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot has successfully restocked multiple blue packaged toilet paper items into the shopping cart through repeated cycles of picking them up from the shelf and placing them inside."}, {"start_frame": 2979, "end_frame": 3053, "action_text": "place the blue packaged toilet paper into the shopping cart", "skill": "Place", "language_memory": "The robot has successfully restocked multiple blue packaged toilet paper items into the shopping cart through repeated cycles of picking them up from the shelf and placing them inside."}, {"start_frame": 3053, "end_frame": 3099, "action_text": "height increases while the waistline rises", "skill": "AdjustPosture", "language_memory": "The robot has successfully restocked multiple blue packaged toilet paper items by repeatedly picking them up from the shelf and placing them into the shopping cart."}, {"start_frame": 3099, "end_frame": 3193, "action_text": "place the reset position", "skill": "Place", "language_memory": "The robot has successfully restocked multiple blue packaged toilet paper items into the shopping cart through repeated cycles of picking up products from the shelf and placing them inside."}], "detailed_task_instruction": ["Restock the packaged toilet paper by repeatedly picking up blue packages from the shelf and placing them into the shopping cart. The process involves adjusting the robot's height and waist posture, including bending over, rotating the waist, and rising as the waistline moves upward, to reach and retrieve each item. Continue this cycle of picking up the blue packaged toilet paper from the shelf, maneuvering the body through height adjustments and waist rotations, and depositing the items into the cart until all available stock is restocked, concluding with a return to the reset position."]}
{"task_id": "task_3401", "episode_index": 11, "video_path": "task_3401/videos/chunk-000/{video_key}/episode_000011.mp4", "tasks": ["Restocking the packaged toilet paper."], "length": 2602, "action_config": [{"start_frame": 64, "end_frame": 303, "action_text": "pick up the blue packaged toilet paper from the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 303, "end_frame": 440, "action_text": "decrease height", "skill": "AdjustPosture", "language_memory": "The robot has picked up the blue packaged toilet paper from the shelf."}, {"start_frame": 440, "end_frame": 673, "action_text": "pick up the white bagged toilet paper from the shelf", "skill": "Pick", "language_memory": "The robot picked up the blue packaged toilet paper from the shelf and decreased its height."}, {"start_frame": 673, "end_frame": 883, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot has picked up the blue packaged toilet paper and the white bagged toilet paper from the shelf and decreased its height."}, {"start_frame": 883, "end_frame": 1030, "action_text": "place the blue packaged toilet paper into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up blue and white packaged toilet paper from the shelf and adjusted its posture by decreasing height and bending over."}, {"start_frame": 1030, "end_frame": 1230, "action_text": "place the white packaged toilet paper into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the blue packaged toilet paper and the white bagged toilet paper from the shelf, adjusted its posture, and placed the blue packaged toilet paper into the shopping cart."}, {"start_frame": 1230, "end_frame": 1303, "action_text": "as the height increases, the waist rises upward", "skill": "AdjustPosture", "language_memory": "The robot picked up blue and white packaged toilet paper from the shelf and placed both items into the shopping cart."}], "detailed_task_instruction": ["Restock the packaged toilet paper by first picking up the blue packaged toilet paper from the shelf, then decreasing your height to pick up the white bagged toilet paper from the shelf. After bending over to retrieve the white item, place both the blue packaged toilet paper and the white packaged toilet paper into the shopping cart. As you complete the task, rise upward by increasing your height."]}
{"task_id": "task_3401", "episode_index": 12, "video_path": "task_3401/videos/chunk-000/{video_key}/episode_000012.mp4", "tasks": ["Restocking the packaged toilet paper."], "length": 2490, "action_config": [{"start_frame": 0, "end_frame": 82, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 82, "end_frame": 275, "action_text": "pick up the blue packaged toilet paper from the shelf", "skill": "Pick", "language_memory": "The robot has bent over."}, {"start_frame": 275, "end_frame": 458, "action_text": "pick up the white bagged toilet paper from the shelf", "skill": "Pick", "language_memory": "The robot has bent over and picked up the blue packaged toilet paper from the shelf."}, {"start_frame": 458, "end_frame": 559, "action_text": "decrease height", "skill": "AdjustPosture", "language_memory": "The robot has bent over and picked up the blue packaged toilet paper and the white bagged toilet paper from the shelf."}, {"start_frame": 559, "end_frame": 701, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot bent over, picked up the blue packaged toilet paper and the white bagged toilet paper from the shelf, and decreased its height."}, {"start_frame": 701, "end_frame": 827, "action_text": "place the blue packaged toilet paper into the shopping cart", "skill": "Place", "language_memory": "The robot bent over, picked up the blue packaged toilet paper and the white bagged toilet paper from the shelf, and decreased its height."}, {"start_frame": 827, "end_frame": 992, "action_text": "place the white bagged toilet paper into the shopping cart", "skill": "Place", "language_memory": "The robot bent over, picked up the blue packaged toilet paper and the white bagged toilet paper from the shelf, decreased height, and placed the blue packaged toilet paper into the shopping cart."}, {"start_frame": 992, "end_frame": 1078, "action_text": "as the height increases, the waist rises upward", "skill": "AdjustPosture", "language_memory": "The robot bent over, picked up the blue packaged toilet paper and the white bagged toilet paper from the shelf, decreased height, and placed both items into the shopping cart."}, {"start_frame": 1078, "end_frame": 1195, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot bent over, picked up the blue packaged toilet paper and the white bagged toilet paper from the shelf, and placed both items into the shopping cart."}, {"start_frame": 1195, "end_frame": 1292, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot picked up blue packaged and white bagged toilet paper from the shelf and placed both items into the shopping cart."}, {"start_frame": 1292, "end_frame": 1534, "action_text": "pick up the white bagged toilet paper from the shelf", "skill": "Pick", "language_memory": "The robot picked up blue packaged and white bagged toilet paper from the shelf and placed both items into the shopping cart."}, {"start_frame": 1534, "end_frame": 1731, "action_text": "pick up the blue packaged toilet paper from the shelf", "skill": "Pick", "language_memory": "The robot has picked up blue packaged and white bagged toilet paper from the shelf and placed them into the shopping cart, while currently picking up another white bagged toilet paper."}, {"start_frame": 1731, "end_frame": 1873, "action_text": "decrease height", "skill": "AdjustPosture", "language_memory": "The robot has successfully retrieved multiple blue packaged and white bagged toilet paper items from the shelf and placed them into the shopping cart."}, {"start_frame": 1873, "end_frame": 2024, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot has successfully restocked packaged and bagged toilet paper by picking up multiple items from the shelf and placing them into the shopping cart."}, {"start_frame": 2024, "end_frame": 2131, "action_text": "place the blue packaged toilet paper into the shopping cart", "skill": "Place", "language_memory": "The robot has successfully restocked packaged and bagged toilet paper by picking up multiple items from the shelf and placing them into the shopping cart."}, {"start_frame": 2131, "end_frame": 2313, "action_text": "place the white packaged toilet paper into the shopping cart", "skill": "Place", "language_memory": "The robot has successfully restocked multiple packages of blue and white toilet paper into the shopping cart by repeatedly bending, picking items from the shelf, and placing them in the cart."}, {"start_frame": 2313, "end_frame": 2365, "action_text": "as height increases, the waistline rises", "skill": "AdjustPosture", "language_memory": "The robot has successfully restocked multiple packages of blue and white toilet paper into the shopping cart."}, {"start_frame": 2365, "end_frame": 2489, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot has successfully restocked multiple packages of blue and white toilet paper into the shopping cart by repeatedly bending, picking items from the shelf, and placing them in the cart."}], "detailed_task_instruction": ["Restock the packaged toilet paper by bending over to pick up a blue packaged roll and a white bagged roll from the shelf, then decrease height to place both items into the shopping cart. As height increases, rise the waist and rotate it before bending over again to retrieve another white bagged roll and a blue packaged roll from the shelf. Decrease height once more to bend over and place these second items into the shopping cart. Finally, as height increases, rise the waistline and adjust the robot posture to complete the restocking process."]}
{"task_id": "task_3401", "episode_index": 13, "video_path": "task_3401/videos/chunk-000/{video_key}/episode_000013.mp4", "tasks": ["Restocking the packaged toilet paper."], "length": 2565, "action_config": [{"start_frame": 48, "end_frame": 103, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 103, "end_frame": 265, "action_text": "pick up the white bagged toilet paper from the shelf", "skill": "Pick", "language_memory": "The robot has bent over."}, {"start_frame": 265, "end_frame": 540, "action_text": "pick up the blue packaged toilet paper from the shelf", "skill": "Pick", "language_memory": "The robot bent over and picked up the white bagged toilet paper from the shelf."}, {"start_frame": 540, "end_frame": 650, "action_text": "decrease height", "skill": "AdjustPosture", "language_memory": "The robot has bent over and picked up both the white bagged and blue packaged toilet paper from the shelf."}, {"start_frame": 650, "end_frame": 749, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot bent over, picked up white bagged and blue packaged toilet paper from the shelf, and decreased its height."}, {"start_frame": 749, "end_frame": 811, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot has bent over, decreased its height, rotated its waist, and picked up both the white bagged and blue packaged toilet paper from the shelf."}, {"start_frame": 811, "end_frame": 1014, "action_text": "place the blue packaged toilet paper into the shopping cart", "skill": "Place", "language_memory": "The robot bent over, decreased height, rotated its waist, and picked up white bagged and blue packaged toilet paper from the shelf."}, {"start_frame": 1014, "end_frame": 1149, "action_text": "place the white packaged toilet paper into the shopping cart", "skill": "Place", "language_memory": "The robot bent over, picked up white and blue packaged toilet paper from the shelf, adjusted its height and waist rotation, and placed the blue packaged toilet paper into the shopping cart."}, {"start_frame": 1149, "end_frame": 1208, "action_text": "as height increases, the waistline rises", "skill": "AdjustPosture", "language_memory": "The robot picked up white and blue packaged toilet paper from the shelf and placed both items into the shopping cart."}, {"start_frame": 1208, "end_frame": 1628, "action_text": "pick up the blue packaged toilet paper from the shelf", "skill": "Pick", "language_memory": "The robot picked up white and blue packaged toilet paper from the shelf and placed both items into the shopping cart."}, {"start_frame": 1628, "end_frame": 1897, "action_text": "pick up the white bagged toilet paper from the shelf", "skill": "Pick", "language_memory": "The robot picked up white and blue packaged toilet paper from the shelf and placed them into the shopping cart, then picked up another blue packaged toilet paper from the shelf."}, {"start_frame": 1897, "end_frame": 1972, "action_text": "decrease height", "skill": "AdjustPosture", "language_memory": "The robot has picked up multiple packages of white and blue toilet paper from the shelf and placed them into the shopping cart."}, {"start_frame": 1972, "end_frame": 2118, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot has successfully retrieved multiple packages of white and blue toilet paper from the shelf and placed them into the shopping cart."}, {"start_frame": 2118, "end_frame": 2268, "action_text": "place the blue packaged toilet paper into the shopping cart", "skill": "Place", "language_memory": "The robot has successfully retrieved multiple packages of white and blue toilet paper from the shelf and placed them into the shopping cart."}, {"start_frame": 2268, "end_frame": 2402, "action_text": "place the white packaged toilet paper into the shopping cart", "skill": "Place", "language_memory": "The robot has successfully retrieved multiple blue and white packaged toilet paper items from the shelf and placed them into the shopping cart."}, {"start_frame": 2402, "end_frame": 2463, "action_text": "height increases while the waistline rises", "skill": "AdjustPosture", "language_memory": "The robot has successfully restocked multiple units of both white bagged and blue packaged toilet paper into the shopping cart."}, {"start_frame": 2463, "end_frame": 2564, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot has successfully restocked multiple packages of white and blue toilet paper into the shopping cart by repeatedly bending, picking items from the shelf, and placing them in the cart."}], "detailed_task_instruction": ["Restock the packaged toilet paper by bending over to pick up a white bagged roll and a blue packaged roll from the shelf, then placing both items into the shopping cart. Repeat this sequence by bending over again to retrieve another white bagged roll and a blue packaged roll from the shelf, followed by placing them into the shopping cart. Finally, adjust the robot posture as height increases and the waistline rises to complete the restocking process."]}
{"task_id": "task_3402", "episode_index": 0, "video_path": "task_3402/videos/chunk-000/{video_key}/episode_000000.mp4", "tasks": ["Restocking the bottled floral water."], "length": 3772, "action_config": [{"start_frame": 0, "end_frame": 70, "action_text": "place the reset position", "skill": "Place", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 70, "end_frame": 144, "action_text": "decrease height", "skill": "AdjustPosture", "language_memory": "The robot has returned to the reset position."}, {"start_frame": 144, "end_frame": 373, "action_text": "bend the waist downward while lowering the body", "skill": "AdjustPosture", "language_memory": "The robot has moved to the reset position and decreased its height."}, {"start_frame": 373, "end_frame": 694, "action_text": "pick up the yellow bottled floral water in the shopping cart", "skill": "Pick", "language_memory": "The robot has moved to the reset position, decreased its height, and bent its waist downward while lowering its body."}, {"start_frame": 694, "end_frame": 1181, "action_text": "pick up the green bottled floral water from the shopping cart", "skill": "Pick", "language_memory": "The robot moved to the reset position, adjusted its height and posture by bending downward, and picked up the yellow bottled floral water from the shopping cart."}, {"start_frame": 1181, "end_frame": 1217, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot has moved to the reset position, adjusted its height and posture, and picked up the yellow and green bottled floral waters from the shopping cart."}, {"start_frame": 1217, "end_frame": 1366, "action_text": "decrease height", "skill": "AdjustPosture", "language_memory": "The robot has reset its position, lowered its height and bent its waist, picked up the yellow and green bottled floral waters from the shopping cart, and adjusted its posture."}, {"start_frame": 1366, "end_frame": 1609, "action_text": "place the yellow bottled floral water on the shelf", "skill": "Place", "language_memory": "The robot has reset its position, lowered its height and bent its waist, picked up yellow and green bottled floral water from the shopping cart, and adjusted its posture."}, {"start_frame": 1609, "end_frame": 2004, "action_text": "clamp the object", "skill": "Clamp", "language_memory": "The robot adjusted its posture, decreased height, and bent downward to pick up yellow and green bottled floral water from the shopping cart, then placed the yellow bottle on the shelf."}, {"start_frame": 2004, "end_frame": 2429, "action_text": "place the green bottled floral water on the shelf", "skill": "Place", "language_memory": "The robot has reset its position, adjusted its posture and height, picked up yellow and green bottled floral water from the shopping cart, and placed the yellow bottle on the shelf."}, {"start_frame": 2429, "end_frame": 2479, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot has adjusted its posture, picked up yellow and green bottled floral water from the shopping cart, and placed both items on the shelf."}, {"start_frame": 2479, "end_frame": 2642, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot has reset its position, lowered its height and bent its waist, picked up yellow and green bottled floral water from the shopping cart, adjusted its posture, and successfully placed both bottles on the shelf."}, {"start_frame": 2642, "end_frame": 2980, "action_text": "pick up the green bottled floral water in the shopping cart", "skill": "Pick", "language_memory": "The robot reset its position, lowered its height and bent its waist, picked up yellow and green bottled floral water from the shopping cart, adjusted its posture, and placed both bottles on the shelf."}, {"start_frame": 2980, "end_frame": 3087, "action_text": "hand over the green bottled floral water", "skill": "Handover", "language_memory": "The robot reset its position, adjusted its posture, decreased height, bent its waist, picked up yellow and green bottled floral waters from the shopping cart, placed the yellow bottle on the shelf, clamped an object, and placed the green bottle on the shelf."}, {"start_frame": 3087, "end_frame": 3136, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot reset its position, adjusted its posture and height, picked up yellow and green bottled floral waters from the shopping cart, placed the yellow bottle on the shelf, and handed over the green bottle."}, {"start_frame": 3136, "end_frame": 3235, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has reset its position, lowered its height, bent its waist, picked up yellow and green bottled floral waters from the shopping cart, adjusted its posture, clamped an object, and placed both the yellow and green bottled floral waters on the shelf."}, {"start_frame": 3235, "end_frame": 3316, "action_text": "decrease height", "skill": "AdjustPosture", "language_memory": "The robot reset its position, adjusted its posture, picked up yellow and green bottled floral waters from the shopping cart, and placed them on the shelf."}, {"start_frame": 3316, "end_frame": 3354, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot reset its position, adjusted its posture and height, picked up yellow and green bottled floral water from the shopping cart, and placed both bottles on the shelf."}, {"start_frame": 3354, "end_frame": 3771, "action_text": "place the green bottled floral water on the shelf", "skill": "Place", "language_memory": "The robot reset its position, adjusted its posture and height, picked up yellow and green bottled floral waters from the shopping cart, and placed both on the shelf."}], "detailed_task_instruction": ["Restock the bottled floral water by first positioning yourself at the reset location and lowering your height. Bend your waist downward to reach the shopping cart, where you will pick up the yellow bottled floral water. Adjust your posture, lower your height again, and clamp the yellow bottle before placing it on the shelf. Next, adjust your posture and rotate your waist to access the green bottled floral water. Decrease your height, rotate your waist once more, and pick up the green bottle from the cart. After adjusting your posture, hand over the green bottle, then decrease your height and rotate your waist to place the green bottled floral water on the shelf."]}
{"task_id": "task_3402", "episode_index": 1, "video_path": "task_3402/videos/chunk-000/{video_key}/episode_000001.mp4", "tasks": ["Restocking the bottled floral water."], "length": 4149, "action_config": [{"start_frame": 0, "end_frame": 184, "action_text": "as the height decreases, the waist bends downward", "skill": "AdjustPosture", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 184, "end_frame": 501, "action_text": "pick up the yellow bottle of floral water from the shelf", "skill": "Pick", "language_memory": "The robot bent its waist downward as the height decreased."}, {"start_frame": 501, "end_frame": 787, "action_text": "pick up the green bottled floral water on the shelf", "skill": "Pick", "language_memory": "The robot adjusted its waist height and picked up a yellow bottle of floral water from the shelf."}, {"start_frame": 787, "end_frame": 863, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot adjusted its waist height and picked up yellow and green bottles of floral water from the shelf."}, {"start_frame": 863, "end_frame": 1057, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot adjusted its waist posture, picked up a yellow bottle and a green bottle of floral water from the shelf."}, {"start_frame": 1057, "end_frame": 1194, "action_text": "place the yellow bottled floral water into the shopping cart", "skill": "Place", "language_memory": "The robot adjusted its posture, bent downward, and picked up yellow and green bottled floral water from the shelf."}, {"start_frame": 1194, "end_frame": 1417, "action_text": "place the green bottled floral water into the shopping cart", "skill": "Place", "language_memory": "The robot adjusted its posture, bent downward, picked up yellow and green bottled floral water from the shelf, and placed the yellow bottle into the shopping cart."}, {"start_frame": 1417, "end_frame": 1466, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot bent its waist downward, picked up yellow and green bottled floral water from the shelf, adjusted its posture, and placed both bottles into the shopping cart."}, {"start_frame": 1466, "end_frame": 1557, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up yellow and green bottled floral water from the shelf and placed them into the shopping cart."}, {"start_frame": 1557, "end_frame": 1612, "action_text": "as the height decreases, the waist bends downward", "skill": "AdjustPosture", "language_memory": "The robot picked up yellow and green bottled floral water from the shelf and placed them into the shopping cart while adjusting its posture."}, {"start_frame": 1612, "end_frame": 1901, "action_text": "pick up the yellow bottle of floral water from the shelf", "skill": "Pick", "language_memory": "The robot picked up yellow and green bottled floral water from the shelf and placed them into the shopping cart while adjusting its posture and bending its waist."}, {"start_frame": 1901, "end_frame": 2088, "action_text": "pick up the green bottle of floral water from the shelf", "skill": "Pick", "language_memory": "The robot picked up yellow and green bottled floral waters from the shelf and placed them into the shopping cart."}, {"start_frame": 2088, "end_frame": 2155, "action_text": "pick up the object", "skill": "Pick", "language_memory": "The robot has picked up multiple yellow and green bottles of floral water from the shelf and placed them into the shopping cart, while adjusting its posture and bending its waist to manage height changes."}, {"start_frame": 2155, "end_frame": 2337, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot successfully picked up yellow and green bottled floral water from the shelf and placed them into the shopping cart, while adjusting its posture and bending its waist as needed."}, {"start_frame": 2337, "end_frame": 2481, "action_text": "place the yellow bottled floral water into the shopping cart", "skill": "Place", "language_memory": "The robot has successfully restocked multiple bottles of yellow and green floral water into the shopping cart by repeatedly bending, picking up items from the shelf, and placing them in the cart."}, {"start_frame": 2481, "end_frame": 2666, "action_text": "place the green bottle of floral water into the shopping cart", "skill": "Place", "language_memory": "The robot has restocked multiple yellow and green bottles of floral water from the shelf into the shopping cart, adjusting its posture and bending as needed during the process."}, {"start_frame": 2666, "end_frame": 2733, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot has restocked multiple yellow and green bottles of floral water into the shopping cart by repeatedly bending, picking them up from the shelf, and placing them inside."}, {"start_frame": 2733, "end_frame": 2849, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has restocked multiple yellow and green bottles of floral water into the shopping cart by repeatedly bending, picking them up from the shelf, and placing them inside."}, {"start_frame": 2849, "end_frame": 2915, "action_text": "decrease height", "skill": "AdjustPosture", "language_memory": "The robot has restocked multiple yellow and green bottles of floral water into the shopping cart by repeatedly bending, picking them up from the shelf, and placing them inside."}, {"start_frame": 2915, "end_frame": 2987, "action_text": "as the height decreases, the waist bends downward", "skill": "AdjustPosture", "language_memory": "The robot has successfully restocked multiple bottles of yellow and green floral water from the shelf into the shopping cart by adjusting its posture and bending to reach lower shelves."}, {"start_frame": 2987, "end_frame": 3123, "action_text": "pick up the blue bottle of floral water from the shelf", "skill": "Pick", "language_memory": "The robot has restocked multiple yellow and green bottles of floral water into the shopping cart by repeatedly bending, picking up items from the shelf, and placing them in the cart while adjusting its posture."}, {"start_frame": 3123, "end_frame": 3396, "action_text": "pick up the green bottled floral water from the shelf", "skill": "Pick", "language_memory": "The robot has restocked multiple yellow, green, and blue bottles of floral water into the shopping cart by repeatedly bending, adjusting posture, and placing items."}, {"start_frame": 3396, "end_frame": 3451, "action_text": "as the height increases, the waist rises upward", "skill": "AdjustPosture", "language_memory": "The robot has restocked multiple yellow, green, and blue bottles of floral water into the shopping cart by repeatedly bending, adjusting posture, and placing items."}, {"start_frame": 3451, "end_frame": 3617, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot has restocked multiple yellow, green, and blue bottles of floral water into the shopping cart by repeatedly bending, picking up items from the shelf, and placing them in the cart."}, {"start_frame": 3617, "end_frame": 3743, "action_text": "place the blue bottled floral water into the shopping cart", "skill": "Place", "language_memory": "The robot has restocked multiple yellow, green, and blue bottles of floral water into the shopping cart by repeatedly bending, picking up items from the shelf, and placing them in the cart."}, {"start_frame": 3743, "end_frame": 3941, "action_text": "place the green bottled floral water into the shopping cart", "skill": "Place", "language_memory": "The robot has restocked multiple bottles of yellow, green, and blue floral water from the shelf into the shopping cart while adjusting its posture and bending to varying heights."}, {"start_frame": 3941, "end_frame": 3998, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot has restocked multiple bottles of yellow, green, and blue floral water from the shelf into the shopping cart while adjusting its posture and bending to varying heights."}, {"start_frame": 3998, "end_frame": 4034, "action_text": "decrease height", "skill": "AdjustPosture", "language_memory": "The robot has restocked multiple bottles of yellow, green, and blue floral water from the shelf into the shopping cart, including adjusting its posture and bending to reach lower shelves."}, {"start_frame": 4034, "end_frame": 4148, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has restocked multiple bottles of yellow, green, and blue floral water from the shelf into the shopping cart, including adjusting its posture and bending to reach lower shelves."}], "detailed_task_instruction": ["Restock the bottled floral water by repeatedly bending down to pick up yellow, green, and blue bottles from the shelf and placing them into the shopping cart. Begin by lowering your waist and bending over to retrieve a yellow bottle and a green bottle from the shelf, then adjust your posture and rotate your waist before placing both into the cart. Repeat this sequence to pick up another yellow bottle and a green bottle, ensuring you bend down, adjust your posture, and rotate your waist after each retrieval before loading them. Finally, lower your height, bend over to pick up a blue bottle and a green bottle, rise your waist as you stand, and place both into the shopping cart. Throughout the process, continuously adjust your robot posture and manage your height and waist position to reach the lower shelves and successfully transfer all floral water bottles to the cart."]}
{"task_id": "task_3402", "episode_index": 2, "video_path": "task_3402/videos/chunk-000/{video_key}/episode_000002.mp4", "tasks": ["Restocking the bottled floral water."], "length": 4393, "action_config": [{"start_frame": 68, "end_frame": 185, "action_text": "as the height decreases, the waist bends downward", "skill": "AdjustPosture", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 185, "end_frame": 397, "action_text": "pick up the yellow bottle of floral water from the shelf", "skill": "Pick", "language_memory": "The robot bent its waist downward as the height decreased."}, {"start_frame": 397, "end_frame": 670, "action_text": "pick up the green bottled floral water on the shelf", "skill": "Pick", "language_memory": "The robot adjusted its waist height and picked up a yellow bottle of floral water from the shelf."}, {"start_frame": 670, "end_frame": 731, "action_text": "pick up the object", "skill": "Pick", "language_memory": "The robot adjusted its waist height and picked up yellow and green bottles of floral water from the shelf."}, {"start_frame": 731, "end_frame": 845, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot adjusted its waist height and successfully retrieved yellow and green bottled floral water from the shelf."}, {"start_frame": 845, "end_frame": 938, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot adjusted its waist height, picked up yellow and green floral water bottles from the shelf, handled an unspecified object, and rotated its waist."}, {"start_frame": 938, "end_frame": 1121, "action_text": "place the yellow bottled floral water into the shopping cart", "skill": "Place", "language_memory": "The robot adjusted its waist posture, picked up yellow and green bottled floral water from the shelf, rotated its waist, and bent over."}, {"start_frame": 1121, "end_frame": 1377, "action_text": "place the green bottled floral water into the shopping cart", "skill": "Place", "language_memory": "The robot adjusted its waist posture, picked up yellow and green bottled floral water from the shelf, and placed the yellow bottle into the shopping cart."}, {"start_frame": 1377, "end_frame": 1427, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot bent its waist, picked up yellow and green bottled floral water from the shelf, rotated its waist, and placed both bottles into the shopping cart."}, {"start_frame": 1427, "end_frame": 1623, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot picked up yellow and green bottled floral water from the shelf and placed them into the shopping cart while adjusting its posture."}, {"start_frame": 1623, "end_frame": 1901, "action_text": "pick up the yellow bottle of floral water from the shelf", "skill": "Pick", "language_memory": "The robot adjusted its posture, bent down, rotated its waist, and picked up yellow and green bottled floral water from the shelf before placing both into the shopping cart."}, {"start_frame": 1901, "end_frame": 2147, "action_text": "pick up the green bottled floral water on the shelf", "skill": "Pick", "language_memory": "The robot adjusted its posture, picked up yellow and green bottled floral water from the shelf, rotated its waist, and placed the bottles into the shopping cart."}, {"start_frame": 2147, "end_frame": 2182, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot adjusted its posture, picked up yellow and green bottled floral water from the shelf, and placed them into the shopping cart."}, {"start_frame": 2182, "end_frame": 2236, "action_text": "increase height", "skill": "AdjustPosture", "language_memory": "The robot adjusted its posture, picked up yellow and green bottled floral water from the shelf, and placed them into the shopping cart."}, {"start_frame": 2236, "end_frame": 2343, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot adjusted its posture, picked up yellow and green bottled floral water from the shelf, and placed them into the shopping cart."}, {"start_frame": 2343, "end_frame": 2431, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot adjusted its posture, picked up yellow and green bottled floral water from the shelf, and placed them into the shopping cart."}, {"start_frame": 2431, "end_frame": 2577, "action_text": "place the yellow bottled floral water into the shopping cart", "skill": "Place", "language_memory": "The robot adjusted its posture, picked up yellow and green bottled floral water from the shelf, and placed them into the shopping cart."}, {"start_frame": 2577, "end_frame": 2809, "action_text": "place the green bottled floral water into the shopping cart", "skill": "Place", "language_memory": "The robot adjusted its posture, picked up yellow and green bottled floral water from the shelf, and placed them into the shopping cart."}, {"start_frame": 2809, "end_frame": 2871, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot successfully restocked the shopping cart by repeatedly picking up yellow and green bottled floral water from the shelf and placing them into the cart, while adjusting its posture and waist orientation throughout the process."}, {"start_frame": 2871, "end_frame": 3048, "action_text": "decrease height", "skill": "AdjustPosture", "language_memory": "The robot adjusted its posture, picked up yellow and green bottled floral water from the shelf, and placed them into the shopping cart."}, {"start_frame": 3048, "end_frame": 3268, "action_text": "pick up the yellow bottle of floral water from the shelf", "skill": "Pick", "language_memory": "The robot successfully restocked the shopping cart by repeatedly picking up yellow and green bottled floral water from the shelf and placing them into the cart while adjusting its posture and body configuration."}, {"start_frame": 3268, "end_frame": 3467, "action_text": "pick up the green bottled floral water on the shelf", "skill": "Pick", "language_memory": "The robot adjusted its posture, picked up multiple yellow and green bottled floral waters from the shelf, and placed them into the shopping cart."}, {"start_frame": 3467, "end_frame": 3522, "action_text": "as the height increases, the waist rises upward", "skill": "AdjustPosture", "language_memory": "The robot repeatedly adjusted its posture, bent down, and picked up yellow and green bottled floral water from the shelf to place them into the shopping cart."}, {"start_frame": 3522, "end_frame": 3630, "action_text": "rotate the waist while lifting the body upward", "skill": "Rotate", "language_memory": "The robot repeatedly adjusted its posture, picked up yellow and green bottled floral water from the shelf, and placed them into the shopping cart."}, {"start_frame": 3630, "end_frame": 3717, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot repeatedly adjusted its posture, picked up yellow and green bottled floral water from the shelf, and placed them into the shopping cart."}, {"start_frame": 3717, "end_frame": 3846, "action_text": "place the yellow bottle of floral water into the shopping cart", "skill": "Place", "language_memory": "The robot repeatedly adjusted its posture, picked up yellow and green bottled floral water from the shelf, and placed them into the shopping cart."}, {"start_frame": 3846, "end_frame": 4041, "action_text": "place the green bottled floral water into the shopping cart", "skill": "Place", "language_memory": "The robot repeatedly adjusted its posture, bent over, and rotated its waist to pick up yellow and green bottled floral water from the shelf and place them into the shopping cart."}, {"start_frame": 4041, "end_frame": 4116, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot repeatedly adjusted its posture, bent over, and rotated its waist to pick up yellow and green bottled floral water from the shelf and place them into the shopping cart."}, {"start_frame": 4116, "end_frame": 4219, "action_text": "decrease height", "skill": "AdjustPosture", "language_memory": "The robot repeatedly adjusted its posture, bent over, and rotated its waist to pick up yellow and green bottled floral water from the shelf and place them into the shopping cart."}, {"start_frame": 4219, "end_frame": 4392, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot repeatedly adjusted its posture, bent over, and rotated its waist to pick up yellow and green bottled floral water from the shelf and place them into the shopping cart."}], "detailed_task_instruction": ["Restock the bottled floral water by repeatedly adjusting your posture to reach the shelf. First, decrease your height and bend your waist downward to pick up a yellow bottle and a green bottle of floral water from the shelf. Rotate your waist, then bend over further to place both bottles into the shopping cart. Adjust your robot posture, increase your height, and rotate your waist while lifting your body upward. Bend over again to pick up another yellow bottle and a green bottle from the shelf. Place these two bottles into the shopping cart. Finally, adjust your robot posture, decrease your height, and adjust your posture once more to complete the restocking cycle."]}
{"task_id": "task_3402", "episode_index": 3, "video_path": "task_3402/videos/chunk-000/{video_key}/episode_000003.mp4", "tasks": ["Restocking the bottled floral water."], "length": 4873, "action_config": [{"start_frame": 0, "end_frame": 91, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 91, "end_frame": 178, "action_text": "decrease height", "skill": "AdjustPosture", "language_memory": "The robot has adjusted its posture."}, {"start_frame": 178, "end_frame": 380, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot adjusted its posture and decreased its height."}, {"start_frame": 380, "end_frame": 644, "action_text": "pick up the yellow bottled floral water in the shopping cart", "skill": "Pick", "language_memory": "The robot adjusted its posture, decreased its height, and rotated its waist."}, {"start_frame": 644, "end_frame": 1106, "action_text": "pick up the green bottled floral water from the shopping cart", "skill": "Pick", "language_memory": "The robot adjusted its posture, decreased height, rotated its waist, and picked up the yellow bottled floral water from the shopping cart."}, {"start_frame": 1106, "end_frame": 1181, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot adjusted its posture, decreased height, rotated its waist, and picked up yellow and green bottled floral waters from the shopping cart."}, {"start_frame": 1181, "end_frame": 1336, "action_text": "decrease height", "skill": "AdjustPosture", "language_memory": "The robot adjusted its posture, decreased height, rotated its waist, and picked up yellow and green bottled floral waters from the shopping cart."}, {"start_frame": 1336, "end_frame": 1662, "action_text": "place the yellow bottled floral water on the shelf", "skill": "Place", "language_memory": "The robot adjusted its posture and height, rotated its waist, and picked up yellow and green bottled floral waters from the shopping cart."}, {"start_frame": 1662, "end_frame": 2210, "action_text": "clamp the object", "skill": "Clamp", "language_memory": "The robot adjusted its posture and height, rotated its waist, picked up yellow and green bottled floral waters from the shopping cart, and placed the yellow bottle on the shelf."}, {"start_frame": 2210, "end_frame": 2513, "action_text": "place the green bottled floral water on the shelf", "skill": "Place", "language_memory": "The robot adjusted its posture and height, rotated its waist, picked up yellow and green bottled floral water from the shopping cart, placed the yellow bottle on the shelf, and clamped an object."}, {"start_frame": 2513, "end_frame": 2558, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot adjusted its posture and height, rotated its waist, picked up yellow and green bottled floral water from the shopping cart, and placed both on the shelf."}, {"start_frame": 2558, "end_frame": 2768, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot adjusted its posture and height, rotated its waist, picked up yellow and green bottled floral water from the shopping cart, and placed both on the shelf."}, {"start_frame": 2768, "end_frame": 2979, "action_text": "pick up the green bottled floral water in the shopping cart", "skill": "Pick", "language_memory": "The robot adjusted its posture and height, rotated its waist, picked up yellow and green bottled floral water from the shopping cart, and placed both on the shelf before bending over."}, {"start_frame": 2979, "end_frame": 3742, "action_text": "pick up the green bottled floral water from the shopping cart", "skill": "Pick", "language_memory": "The robot adjusted its posture and height, rotated its waist, picked up yellow and green bottled floral waters from the shopping cart, placed them on the shelf, clamped an object, and bent over to pick up another green bottled floral water."}, {"start_frame": 3742, "end_frame": 3784, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot adjusted its posture and height, rotated its waist, and successfully picked up and placed yellow and green bottled floral waters from the shopping cart onto the shelf."}, {"start_frame": 3784, "end_frame": 3884, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot adjusted its posture and height, rotated its waist, and successfully picked up and placed yellow and green bottled floral waters from the shopping cart onto the shelf."}, {"start_frame": 3884, "end_frame": 3940, "action_text": "decrease height", "skill": "AdjustPosture", "language_memory": "The robot adjusted its posture and height, rotated its waist, and successfully picked up and placed yellow and green bottled floral waters from the shopping cart onto the shelf."}, {"start_frame": 3940, "end_frame": 4250, "action_text": "place the yellow bottle of floral water on the shelf", "skill": "Place", "language_memory": "The robot adjusted its posture and height, rotated its waist, and successfully picked up and placed yellow and green bottled floral waters from the shopping cart onto the shelf."}, {"start_frame": 4250, "end_frame": 4566, "action_text": "clamp the object", "skill": "Clamp", "language_memory": "The robot adjusted its posture and height, rotated its waist, and successfully picked up and placed multiple yellow and green bottled floral waters from the shopping cart onto the shelf."}, {"start_frame": 4566, "end_frame": 4872, "action_text": "place the green bottled floral water on the shelf", "skill": "Place", "language_memory": "The robot adjusted its posture and height, rotated its waist, and successfully picked up and placed multiple yellow and green bottled floral waters from the shopping cart onto the shelf."}], "detailed_task_instruction": ["Restock the bottled floral water by first adjusting your posture, decreasing height, and rotating your waist to pick up the yellow bottled floral water from the shopping cart. After clamping the object, place the yellow bottle on the shelf. Next, adjust your posture, decrease height, and rotate your waist again to pick up a green bottled floral water from the shopping cart. Clamp the object and place the green bottle on the shelf. Finally, adjust your posture, bend over, and pick up another green bottled floral water from the shopping cart. Adjust your posture, decrease height, and rotate your waist to place this final green bottle on the shelf, completing the restocking process."]}
{"task_id": "task_3402", "episode_index": 4, "video_path": "task_3402/videos/chunk-000/{video_key}/episode_000004.mp4", "tasks": ["Restocking the bottled floral water."], "length": 4084, "action_config": [{"start_frame": 62, "end_frame": 117, "action_text": "decrease height", "skill": "AdjustPosture", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 117, "end_frame": 368, "action_text": "bend at the waist while lowering the body", "skill": "AdjustPosture", "language_memory": "The robot has decreased its height."}, {"start_frame": 368, "end_frame": 649, "action_text": "pick up the yellow bottled floral water in the shopping cart", "skill": "Pick", "language_memory": "The robot has decreased its height and bent at the waist while lowering its body."}, {"start_frame": 649, "end_frame": 878, "action_text": "clamp", "skill": "Clamp", "language_memory": "The robot decreased its height, bent at the waist, and picked up the yellow bottled floral water from the shopping cart."}, {"start_frame": 878, "end_frame": 1194, "action_text": "pick up the green bottled floral water from the shopping cart", "skill": "Pick", "language_memory": "The robot decreased its height, bent at the waist, picked up the yellow bottled floral water from the shopping cart, and clamped."}, {"start_frame": 1194, "end_frame": 1254, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot decreased its height, bent at the waist, clamped, and picked up the yellow and green bottled floral waters from the shopping cart."}, {"start_frame": 1254, "end_frame": 1438, "action_text": "decrease height", "skill": "AdjustPosture", "language_memory": "The robot decreased its height, bent at the waist, clamped, picked up the yellow and green bottled floral waters from the shopping cart, and adjusted its posture."}, {"start_frame": 1438, "end_frame": 1714, "action_text": "place the yellow bottled floral water on the shelf", "skill": "Place", "language_memory": "The robot decreased its height, bent at the waist, clamped, and picked up the yellow and green bottled floral waters from the shopping cart before adjusting its posture."}, {"start_frame": 1714, "end_frame": 1878, "action_text": "clamp the object", "skill": "Clamp", "language_memory": "The robot decreased its height, bent at the waist, picked up yellow and green bottled floral water from the shopping cart, clamped, adjusted its posture, and placed the yellow bottled floral water on the shelf."}, {"start_frame": 1878, "end_frame": 2173, "action_text": "place the green bottled floral water on the shelf", "skill": "Place", "language_memory": "The robot decreased its height, bent at the waist, picked up yellow and green bottled floral water from the shopping cart, adjusted its posture, and placed the yellow bottled floral water on the shelf."}, {"start_frame": 2173, "end_frame": 2232, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot adjusted its posture, picked up yellow and green bottled floral waters from the shopping cart, and placed both on the shelf."}, {"start_frame": 2232, "end_frame": 2408, "action_text": "the waist lowers while the upper body rises", "skill": "AdjustPosture", "language_memory": "The robot adjusted its posture, decreased height, bent at the waist, clamped, and picked up yellow and green bottled floral water from the shopping cart before placing both on the shelf."}, {"start_frame": 2408, "end_frame": 2617, "action_text": "pick up the blue bottle of floral water from the shopping cart", "skill": "Pick", "language_memory": "The robot adjusted its posture, decreased height, bent at the waist, clamped, and picked up the yellow and green bottled floral waters from the shopping cart before placing both on the shelf."}, {"start_frame": 2617, "end_frame": 2758, "action_text": "clamp the object", "skill": "Clamp", "language_memory": "The robot adjusted its posture, decreased height, bent at the waist, clamped objects, and successfully picked up and placed the yellow, green, and blue bottled floral waters onto the shelf."}, {"start_frame": 2758, "end_frame": 3044, "action_text": "pick up the green bottled floral water in the shopping cart", "skill": "Pick", "language_memory": "The robot adjusted its posture, decreased height, bent at the waist, clamped objects, and picked up yellow, green, and blue bottled floral water from the shopping cart before placing the yellow and green bottles on the shelf."}, {"start_frame": 3044, "end_frame": 3111, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot adjusted its posture, picked up yellow, green, and blue bottled floral waters from the shopping cart, clamped the objects, and placed the yellow and green bottles on the shelf."}, {"start_frame": 3111, "end_frame": 3286, "action_text": "decrease height", "skill": "AdjustPosture", "language_memory": "The robot adjusted its posture, decreased height, bent at the waist, clamped objects, and picked up yellow, green, and blue bottled floral waters from the shopping cart before placing the yellow and green bottles on the shelf."}, {"start_frame": 3286, "end_frame": 3643, "action_text": "place the blue bottled floral water on the shelf", "skill": "Place", "language_memory": "The robot adjusted its posture, decreased height, and picked up yellow, green, and blue bottled floral waters from the shopping cart before placing the yellow and green bottles on the shelf."}, {"start_frame": 3643, "end_frame": 4083, "action_text": "place the green bottled floral water on the shelf", "skill": "Place", "language_memory": "The robot adjusted its posture, decreased height, and picked up yellow, green, and blue bottled floral waters from the shopping cart before placing them on the shelf."}], "detailed_task_instruction": ["Restock the bottled floral water by first bending at the waist and lowering your height to pick up the yellow bottle from the shopping cart, clamping it, and placing it on the shelf. Next, adjust your posture, lower your waist while rising your upper body, and pick up the green bottle, clamping it before placing it on the shelf. Then, decrease your height again to pick up the blue bottle from the cart, clamp the object, and place it on the shelf. Finally, pick up the second green bottle from the shopping cart, clamp it, and place it on the shelf to complete the restocking process."]}
{"task_id": "task_3402", "episode_index": 5, "video_path": "task_3402/videos/chunk-000/{video_key}/episode_000005.mp4", "tasks": ["Restocking the bottled floral water."], "length": 2616, "action_config": [{"start_frame": 0, "end_frame": 133, "action_text": "decrease height", "skill": "AdjustPosture", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 133, "end_frame": 399, "action_text": "pick up the gray-white rubber band from the hook", "skill": "Pick", "language_memory": "The robot has decreased its height."}, {"start_frame": 399, "end_frame": 678, "action_text": "pick up the black rubber band from the hook", "skill": "Pick", "language_memory": "The robot decreased its height and picked up the gray-white rubber band from the hook."}, {"start_frame": 678, "end_frame": 807, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot decreased its height and picked up the gray-white and black rubber bands from the hook."}, {"start_frame": 807, "end_frame": 877, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot decreased its height, picked up a gray-white rubber band and a black rubber band from the hook, and adjusted its posture."}, {"start_frame": 877, "end_frame": 1044, "action_text": "place the grayish-white hair tie into the shopping cart", "skill": "Place", "language_memory": "The robot decreased its height, picked up a gray-white and a black rubber band from the hook, adjusted its posture, and bent over."}, {"start_frame": 1044, "end_frame": 1247, "action_text": "place the black rubber band into the shopping cart", "skill": "Place", "language_memory": "The robot decreased its height, picked up gray-white and black rubber bands from the hook, adjusted its posture, bent over, and placed the grayish-white hair tie into the shopping cart."}, {"start_frame": 1247, "end_frame": 1335, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot decreased its height, adjusted its posture, bent over, and placed both the gray-white and black rubber bands into the shopping cart."}, {"start_frame": 1335, "end_frame": 1432, "action_text": "decrease height", "skill": "AdjustPosture", "language_memory": "The robot decreased its height, picked up gray-white and black rubber bands from a hook, adjusted its posture, bent over, and placed both rubber bands into the shopping cart."}, {"start_frame": 1432, "end_frame": 1746, "action_text": "pick up the gray-white rubber band from the hook", "skill": "Pick", "language_memory": "The robot decreased its height, picked up gray-white and black rubber bands from a hook, adjusted its posture, bent over, and placed both rubber bands into the shopping cart."}, {"start_frame": 1746, "end_frame": 2032, "action_text": "pick up the black rubber band from the hook", "skill": "Pick", "language_memory": "The robot decreased its height, picked up two gray-white rubber bands and one black rubber band from the hook, adjusted its posture, bent over, and placed the rubber bands into the shopping cart."}, {"start_frame": 2032, "end_frame": 2140, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot has decreased its height, adjusted its posture, bent over, and placed multiple gray-white and black rubber bands into the shopping cart."}, {"start_frame": 2140, "end_frame": 2215, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot has decreased its height, picked up and placed multiple gray-white and black rubber bands into the shopping cart, and adjusted its posture several times."}, {"start_frame": 2215, "end_frame": 2365, "action_text": "place the gray-white rubber band into the shopping cart", "skill": "Place", "language_memory": "The robot decreased its height, picked up gray-white and black rubber bands from the hook, adjusted its posture, bent over, and placed the rubber bands into the shopping cart."}, {"start_frame": 2365, "end_frame": 2531, "action_text": "place the black rubber band into the shopping cart", "skill": "Place", "language_memory": "The robot has decreased its height, picked up and placed multiple gray-white and black rubber bands into the shopping cart, and adjusted its posture throughout the process."}, {"start_frame": 2531, "end_frame": 2615, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot has adjusted its posture and decreased height multiple times to pick up gray-white and black rubber bands from hooks and place them into the shopping cart."}], "detailed_task_instruction": ["Restock the bottled floral water by first adjusting your posture and decreasing height to pick up a gray-white rubber band and a black rubber band from the hook. Bend over and place both items into the shopping cart, then adjust your posture. Repeat this sequence by decreasing height, picking up another gray-white rubber band and a black rubber band from the hook, bending over to place them into the shopping cart, and finally adjusting your posture to complete the restocking process."]}
{"task_id": "task_3402", "episode_index": 6, "video_path": "task_3402/videos/chunk-000/{video_key}/episode_000006.mp4", "tasks": ["Restocking the bottled floral water."], "length": 4230, "action_config": [{"start_frame": 0, "end_frame": 75, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 75, "end_frame": 157, "action_text": "decrease height", "skill": "AdjustPosture", "language_memory": "The robot has adjusted its posture."}, {"start_frame": 157, "end_frame": 265, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot adjusted its posture and decreased its height."}, {"start_frame": 265, "end_frame": 363, "action_text": "bend the waist downward while lowering the body", "skill": "AdjustPosture", "language_memory": "The robot adjusted its posture, decreased its height, and rotated its waist."}, {"start_frame": 363, "end_frame": 602, "action_text": "pick up the yellow bottled floral water in the shopping cart", "skill": "Pick", "language_memory": "The robot adjusted its posture, decreased its height, rotated its waist, and bent downward while lowering its body."}, {"start_frame": 602, "end_frame": 1199, "action_text": "clamp", "skill": "Clamp", "language_memory": "The robot adjusted its posture, decreased height, rotated and bent its waist, and picked up the yellow bottled floral water from the shopping cart."}, {"start_frame": 1199, "end_frame": 1540, "action_text": "pick up the green bottled floral water from the shopping cart", "skill": "Pick", "language_memory": "The robot adjusted its posture, decreased height, rotated and bent its waist, picked up a yellow bottled floral water from the shopping cart, and clamped it."}, {"start_frame": 1540, "end_frame": 1606, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot adjusted its posture, decreased height, rotated and bent its waist, then picked up and clamped a yellow bottled floral water and a green bottled floral water from the shopping cart."}, {"start_frame": 1606, "end_frame": 1701, "action_text": "rotate the waist while lifting the body upward", "skill": "Rotate", "language_memory": "The robot adjusted its posture, decreased height, rotated and bent its waist, and successfully picked up yellow and green bottled floral water from the shopping cart."}, {"start_frame": 1701, "end_frame": 1759, "action_text": "decrease height", "skill": "AdjustPosture", "language_memory": "The robot adjusted its posture, decreased height, rotated its waist, and bent downward to pick up yellow and green bottled floral water from the shopping cart before clamping and lifting upward."}, {"start_frame": 1759, "end_frame": 1948, "action_text": "place the yellow bottled floral water on the shelf", "skill": "Place", "language_memory": "The robot adjusted its posture, rotated its waist, and bent downward to pick up yellow and green bottled floral water from the shopping cart before clamping and lifting upward."}, {"start_frame": 1948, "end_frame": 2106, "action_text": "clamp the object", "skill": "Clamp", "language_memory": "The robot adjusted its posture, rotated its waist, and bent downward to pick up yellow and green bottled floral water from the shopping cart, then placed the yellow bottle on the shelf."}, {"start_frame": 2106, "end_frame": 2392, "action_text": "place the green bottled floral water on the shelf", "skill": "Place", "language_memory": "The robot adjusted its posture, rotated its waist, and bent downward to pick up yellow and green bottled floral water from the shopping cart, then placed the yellow bottle on the shelf."}, {"start_frame": 2392, "end_frame": 2453, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot adjusted its posture, picked up yellow and green bottled floral water from the shopping cart, and placed both on the shelf."}, {"start_frame": 2453, "end_frame": 2645, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot adjusted its posture, rotated its waist, and bent downward to pick up yellow and green bottled floral water from the shopping cart, then placed both bottles on the shelf."}, {"start_frame": 2645, "end_frame": 3072, "action_text": "pick up the yellow bottled floral water in the shopping cart", "skill": "Pick", "language_memory": "The robot adjusted its posture, rotated its waist, and bent downward to pick up yellow and green bottled floral water from the shopping cart, then placed both bottles on the shelf."}, {"start_frame": 3072, "end_frame": 3376, "action_text": "pick up the green bottled floral water from the shopping cart", "skill": "Pick", "language_memory": "The robot adjusted its posture, rotated its waist, and bent downward to pick up yellow and green bottled floral waters from the shopping cart, clamped the objects, and placed both the yellow and green bottled floral waters on the shelf."}, {"start_frame": 3376, "end_frame": 3435, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot adjusted its posture, rotated its waist, and bent downward to pick up yellow and green bottled floral water from the shopping cart, clamped the objects, and placed them on the shelf."}, {"start_frame": 3435, "end_frame": 3591, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot adjusted its posture, rotated its waist, and bent downward to pick up yellow and green bottled floral water from the shopping cart, then placed both items on the shelf."}, {"start_frame": 3591, "end_frame": 3939, "action_text": "place the yellow bottled floral water on the shelf", "skill": "Place", "language_memory": "The robot adjusted its posture, rotated its waist, and bent downward to pick up yellow and green bottled floral water from the shopping cart, then placed both items on the shelf."}, {"start_frame": 3939, "end_frame": 4229, "action_text": "place the green bottled floral water on the shelf", "skill": "Place", "language_memory": "The robot adjusted its posture, rotated its waist, and bent downward to pick up yellow and green bottled floral water from the shopping cart, then placed them on the shelf."}], "detailed_task_instruction": ["Restock the bottled floral water by first adjusting your posture, decreasing height, rotating your waist, and bending downward to pick up a yellow and a green bottle from the shopping cart. Clamp the yellow bottle, then adjust your posture, lift your body, and decrease height to place it on the shelf. Clamp the green bottle and place it on the shelf. Next, adjust your posture, bend over, and pick up another yellow and green bottle from the cart. Finally, adjust your posture and place both the yellow and green bottles on the shelf to complete the restocking process."]}
{"task_id": "task_3402", "episode_index": 7, "video_path": "task_3402/videos/chunk-000/{video_key}/episode_000007.mp4", "tasks": ["Restocking the bottled floral water."], "length": 3905, "action_config": [{"start_frame": 73, "end_frame": 175, "action_text": "decrease height", "skill": "AdjustPosture", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 175, "end_frame": 393, "action_text": "pick up the yellow bottle of floral water from the shelf", "skill": "Pick", "language_memory": "The robot has decreased its height."}, {"start_frame": 393, "end_frame": 610, "action_text": "pick up the green bottled floral water on the shelf", "skill": "Pick", "language_memory": "The robot decreased its height and picked up the yellow bottle of floral water from the shelf."}, {"start_frame": 610, "end_frame": 688, "action_text": "increase height", "skill": "AdjustPosture", "language_memory": "The robot decreased its height and picked up the yellow and green bottles of floral water from the shelf."}, {"start_frame": 688, "end_frame": 873, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot decreased its height, picked up the yellow and green bottles of floral water from the shelf, and increased its height."}, {"start_frame": 873, "end_frame": 987, "action_text": "place the yellow bottle of floral water into the shopping cart", "skill": "Place", "language_memory": "The robot decreased its height, picked up the yellow and green bottles of floral water from the shelf, increased its height, and bent over."}, {"start_frame": 987, "end_frame": 1201, "action_text": "place the green bottled floral water into the shopping cart", "skill": "Place", "language_memory": "The robot decreased its height, picked up the yellow and green bottles of floral water from the shelf, increased its height, bent over, and placed the yellow bottle into the shopping cart."}, {"start_frame": 1201, "end_frame": 1268, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot decreased its height, picked up the yellow and green bottles of floral water from the shelf, increased its height, bent over, and placed both bottles into the shopping cart."}, {"start_frame": 1268, "end_frame": 1433, "action_text": "decrease height", "skill": "AdjustPosture", "language_memory": "The robot decreased its height, picked up the yellow and green bottles of floral water from the shelf, increased its height, bent over, placed both bottles into the shopping cart, and adjusted its posture."}, {"start_frame": 1433, "end_frame": 1646, "action_text": "pick up the yellow bottle of floral water from the shelf", "skill": "Pick", "language_memory": "The robot decreased its height, picked up the yellow and green bottles of floral water from the shelf, increased its height, bent over, placed both bottles into the shopping cart, adjusted its posture, and decreased its height."}, {"start_frame": 1646, "end_frame": 1818, "action_text": "pick up the green bottled floral water on the shelf", "skill": "Pick", "language_memory": "The robot has decreased and increased its height, bent over, adjusted its posture, and successfully picked up and placed two yellow bottles and one green bottle of floral water into the shopping cart."}, {"start_frame": 1818, "end_frame": 1886, "action_text": "increase height", "skill": "AdjustPosture", "language_memory": "The robot has decreased and increased its height, bent over, adjusted its posture, and successfully picked up and placed two yellow bottles and two green bottles of floral water into the shopping cart."}, {"start_frame": 1886, "end_frame": 2076, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot has picked up yellow and green bottled floral water from the shelf and placed them into the shopping cart, while adjusting its posture and height throughout the process."}, {"start_frame": 2076, "end_frame": 2249, "action_text": "place the yellow bottled floral water into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up and placed two yellow bottles and two green bottles of floral water into the shopping cart."}, {"start_frame": 2249, "end_frame": 2463, "action_text": "place the green bottled floral water into the shopping cart", "skill": "Place", "language_memory": "The robot has restocked multiple yellow and green bottles of floral water into the shopping cart by repeatedly picking them up from the shelf and placing them inside."}, {"start_frame": 2463, "end_frame": 2540, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot has restocked multiple yellow and green bottles of floral water into the shopping cart by repeatedly picking them up from the shelf and placing them inside."}, {"start_frame": 2540, "end_frame": 2721, "action_text": "decrease height", "skill": "AdjustPosture", "language_memory": "The robot has restocked multiple yellow and green bottles of floral water into the shopping cart by repeatedly picking them up from the shelf and placing them inside."}, {"start_frame": 2721, "end_frame": 2953, "action_text": "pick up the blue bottle of floral water from the shelf", "skill": "Pick", "language_memory": "The robot has restocked multiple yellow and green bottles of floral water into the shopping cart by repeatedly picking them up from the shelf and placing them inside."}, {"start_frame": 2953, "end_frame": 3144, "action_text": "pick up the green bottled floral water on the shelf", "skill": "Pick", "language_memory": "The robot has restocked multiple yellow and green bottles of floral water into the shopping cart and is currently holding a blue bottle of floral water."}, {"start_frame": 3144, "end_frame": 3209, "action_text": "increase height", "skill": "AdjustPosture", "language_memory": "The robot has restocked multiple yellow, green, and blue bottles of floral water into the shopping cart by repeatedly picking them from the shelf and placing them inside."}, {"start_frame": 3209, "end_frame": 3397, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot has restocked multiple yellow, green, and blue bottles of floral water into the shopping cart by repeatedly picking them from the shelf and placing them inside."}, {"start_frame": 3397, "end_frame": 3548, "action_text": "place the blue bottle of floral water into the shopping cart", "skill": "Place", "language_memory": "The robot has restocked multiple yellow, green, and blue bottles of floral water into the shopping cart by repeatedly picking them from the shelf and placing them inside."}, {"start_frame": 3548, "end_frame": 3734, "action_text": "place the green bottle of floral water into the shopping cart", "skill": "Place", "language_memory": "The robot has restocked multiple yellow, green, and blue bottles of floral water into the shopping cart by repeatedly picking them up from the shelf and placing them inside."}, {"start_frame": 3734, "end_frame": 3780, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot has restocked multiple yellow, green, and blue bottles of floral water into the shopping cart by repeatedly picking them up from the shelf and placing them inside."}, {"start_frame": 3780, "end_frame": 3904, "action_text": "decrease height", "skill": "AdjustPosture", "language_memory": "The robot has restocked multiple yellow, green, and blue bottles of floral water into the shopping cart by repeatedly picking them up from the shelf and placing them inside."}], "detailed_task_instruction": ["Restock the bottled floral water by repeatedly adjusting your height and bending over to pick up specific bottles from the shelf and place them into the shopping cart. First, lower your height, bend over, and pick up the yellow and green bottles, then raise your height and place both into the cart. Repeat this sequence of lowering, bending, picking up the yellow and green bottles, raising, and placing them in the cart a second time. Finally, lower your height again, bend over, pick up the blue and green bottles, raise your height, and place both into the shopping cart to complete the restocking process."]}
{"task_id": "task_3402", "episode_index": 8, "video_path": "task_3402/videos/chunk-000/{video_key}/episode_000008.mp4", "tasks": ["Restocking the bottled floral water."], "length": 3940, "action_config": [{"start_frame": 31, "end_frame": 128, "action_text": "decrease height", "skill": "AdjustPosture", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 128, "end_frame": 386, "action_text": "pick up the yellow bottle of floral water from the shelf", "skill": "Pick", "language_memory": "The robot has decreased its height."}, {"start_frame": 386, "end_frame": 581, "action_text": "pick up the green bottled floral water from the shelf", "skill": "Pick", "language_memory": "The robot decreased its height and picked up the yellow bottle of floral water from the shelf."}, {"start_frame": 581, "end_frame": 637, "action_text": "increase height", "skill": "AdjustPosture", "language_memory": "The robot decreased its height and picked up the yellow and green bottles of floral water from the shelf."}, {"start_frame": 637, "end_frame": 846, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot decreased its height, picked up the yellow and green bottles of floral water from the shelf, and increased its height."}, {"start_frame": 846, "end_frame": 992, "action_text": "place the yellow bottled floral water into the shopping cart", "skill": "Place", "language_memory": "The robot decreased its height, picked up the yellow and green bottles of floral water from the shelf, increased its height, and bent over."}, {"start_frame": 992, "end_frame": 1180, "action_text": "place the green bottled floral water into the shopping cart", "skill": "Place", "language_memory": "The robot decreased its height, picked up the yellow and green bottled floral waters from the shelf, increased its height, bent over, and placed the yellow bottled floral water into the shopping cart."}, {"start_frame": 1180, "end_frame": 1236, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot decreased its height, picked up the yellow and green bottled floral waters from the shelf, increased its height, bent over, and placed both bottles into the shopping cart."}, {"start_frame": 1236, "end_frame": 1322, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot decreased its height, picked up yellow and green bottled floral water from the shelf, increased its height, bent over, placed both bottles into the shopping cart, and adjusted its posture."}, {"start_frame": 1322, "end_frame": 1392, "action_text": "decrease height", "skill": "AdjustPosture", "language_memory": "The robot decreased its height, picked up yellow and green bottled floral water from the shelf, increased its height, bent over, and placed both bottles into the shopping cart before adjusting its posture and rotating its waist."}, {"start_frame": 1392, "end_frame": 1765, "action_text": "pick up the yellow bottle of floral water from the shelf", "skill": "Pick", "language_memory": "The robot decreased its height, picked up yellow and green bottled floral water from the shelf, increased its height, bent over, placed both bottles into the shopping cart, adjusted its posture, rotated its waist, and decreased its height again."}, {"start_frame": 1765, "end_frame": 1969, "action_text": "pick up the green bottled floral water on the shelf", "skill": "Pick", "language_memory": "The robot decreased height, picked up yellow and green bottled floral waters from the shelf, increased height, bent over, placed both bottles into the shopping cart, adjusted posture, rotated the waist, and picked up the yellow bottle again."}, {"start_frame": 1969, "end_frame": 2030, "action_text": "increase height", "skill": "AdjustPosture", "language_memory": "The robot has decreased and increased its height, bent over, adjusted its posture, rotated its waist, and picked up yellow and green bottled floral water from the shelf twice, placing the first set into the shopping cart."}, {"start_frame": 2030, "end_frame": 2120, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up yellow and green bottled floral water from the shelf and placed them into the shopping cart, while adjusting its posture and height throughout the process."}, {"start_frame": 2120, "end_frame": 2207, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot has picked up yellow and green bottled floral water from the shelf and placed them into the shopping cart, while adjusting its posture and height throughout the process."}, {"start_frame": 2207, "end_frame": 2352, "action_text": "place the yellow bottled floral water into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up yellow and green bottled floral water from the shelf and placed them into the shopping cart, while adjusting its posture and height throughout the process."}, {"start_frame": 2352, "end_frame": 2580, "action_text": "place the green bottled floral water into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up yellow and green bottled floral water from the shelf and placed them into the shopping cart."}, {"start_frame": 2580, "end_frame": 2637, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot has successfully restocked multiple yellow and green bottles of floral water into the shopping cart by repeatedly picking them up from the shelf and placing them inside."}, {"start_frame": 2637, "end_frame": 2833, "action_text": "decrease height", "skill": "AdjustPosture", "language_memory": "The robot has successfully restocked multiple yellow and green bottles of floral water into the shopping cart by repeatedly picking them up from the shelf and placing them inside."}, {"start_frame": 2833, "end_frame": 3029, "action_text": "pick up the yellow bottle of floral water from the shelf", "skill": "Pick", "language_memory": "The robot has successfully restocked multiple yellow and green bottles of floral water into the shopping cart by repeatedly picking them up from the shelf and placing them inside."}, {"start_frame": 3029, "end_frame": 3207, "action_text": "pick up the green bottle of floral water from the shelf", "skill": "Pick", "language_memory": "The robot has successfully restocked multiple yellow and green bottles of floral water into the shopping cart by repeatedly picking them up from the shelf and placing them inside."}, {"start_frame": 3207, "end_frame": 3276, "action_text": "increase height", "skill": "AdjustPosture", "language_memory": "The robot has successfully restocked multiple yellow and green bottles of floral water into the shopping cart by repeatedly picking them up from the shelf and placing them inside."}, {"start_frame": 3276, "end_frame": 3373, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has successfully restocked multiple yellow and green bottles of floral water into the shopping cart by repeatedly picking them up from the shelf and placing them inside."}, {"start_frame": 3373, "end_frame": 3466, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot has successfully restocked multiple yellow and green bottles of floral water into the shopping cart by repeatedly picking them up from the shelf and placing them inside."}, {"start_frame": 3466, "end_frame": 3612, "action_text": "place the blue bottled floral water into the shopping cart", "skill": "Place", "language_memory": "The robot has successfully restocked multiple yellow and green bottles of floral water into the shopping cart by repeatedly picking them up from the shelf and placing them inside."}, {"start_frame": 3612, "end_frame": 3784, "action_text": "place the green bottled floral water into the shopping cart", "skill": "Place", "language_memory": "The robot has restocked multiple yellow, green, and blue bottles of floral water into the shopping cart."}, {"start_frame": 3784, "end_frame": 3843, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot has restocked multiple yellow, green, and blue bottles of floral water into the shopping cart."}], "detailed_task_instruction": ["Restock the floral water bottles by first adjusting your posture to reach the lower shelf, then pick up the yellow and green bottles and place them into the shopping cart. Next, adjust your posture again to reach a higher shelf, pick up the yellow and green bottles, and place them into the shopping cart. Finally, adjust your posture one last time to reach the lowest shelf, pick up the yellow, green, and blue bottles, and place all of them into the shopping cart."]}
{"task_id": "task_3402", "episode_index": 9, "video_path": "task_3402/videos/chunk-000/{video_key}/episode_000009.mp4", "tasks": ["Restocking the bottled floral water."], "length": 3346, "action_config": [{"start_frame": 61, "end_frame": 170, "action_text": "decrease height", "skill": "AdjustPosture", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 170, "end_frame": 346, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot has decreased its height."}, {"start_frame": 346, "end_frame": 621, "action_text": "pick up the yellow bottled floral water in the shopping cart", "skill": "Pick", "language_memory": "The robot has decreased its height and bent over."}, {"start_frame": 621, "end_frame": 925, "action_text": "pick up the green bottled floral water from the shopping cart", "skill": "Pick", "language_memory": "The robot decreased its height, bent over, and picked up the yellow bottled floral water from the shopping cart."}, {"start_frame": 925, "end_frame": 992, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot decreased its height, bent over, and picked up the yellow and green bottled floral waters from the shopping cart."}, {"start_frame": 992, "end_frame": 1073, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot decreased its height, bent over, picked up the yellow and green bottled floral waters from the shopping cart, and adjusted its posture."}, {"start_frame": 1073, "end_frame": 1135, "action_text": "decrease height", "skill": "AdjustPosture", "language_memory": "The robot decreased its height, bent over, picked up yellow and green bottled floral water from the shopping cart, adjusted its posture, and rotated its waist."}, {"start_frame": 1135, "end_frame": 1365, "action_text": "place the yellow bottled floral water on the shelf", "skill": "Place", "language_memory": "The robot decreased its height, bent over, picked up yellow and green bottled floral water from the shopping cart, adjusted its posture, and rotated its waist."}, {"start_frame": 1365, "end_frame": 1541, "action_text": "clamp the object", "skill": "Clamp", "language_memory": "The robot decreased its height, bent over, picked up the yellow and green bottled floral waters from the shopping cart, adjusted its posture, rotated its waist, and placed the yellow bottled floral water on the shelf."}, {"start_frame": 1541, "end_frame": 1819, "action_text": "place the green bottled floral water on the shelf", "skill": "Place", "language_memory": "The robot decreased its height, bent over, picked up yellow and green bottled floral water from the shopping cart, adjusted its posture, rotated its waist, and placed the yellow bottled floral water on the shelf."}, {"start_frame": 1819, "end_frame": 1872, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot picked up yellow and green bottled floral water from the shopping cart and placed them on the shelf."}, {"start_frame": 1872, "end_frame": 1965, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot adjusted its posture, bent over, and picked up yellow and green bottled floral water from the shopping cart before placing both on the shelf."}, {"start_frame": 1965, "end_frame": 2052, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot has picked up yellow and green bottled floral water from the shopping cart and placed them on the shelf."}, {"start_frame": 2052, "end_frame": 2289, "action_text": "pick up the yellow bottled floral water in the shopping cart", "skill": "Pick", "language_memory": "The robot has picked up yellow and green bottled floral water from the shopping cart and placed them on the shelf."}, {"start_frame": 2289, "end_frame": 2614, "action_text": "pick up the green bottled floral water from the shopping cart", "skill": "Pick", "language_memory": "The robot has restocked the yellow and green bottled floral waters onto the shelf from the shopping cart."}, {"start_frame": 2614, "end_frame": 2676, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot has restocked the shelf with multiple yellow and green bottled floral waters by repeatedly picking them up from the shopping cart and placing them on the shelf."}, {"start_frame": 2676, "end_frame": 2758, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has restocked the yellow and green bottled floral water onto the shelf by repeatedly picking them up from the shopping cart and placing them on the shelf."}, {"start_frame": 2758, "end_frame": 2855, "action_text": "decrease height", "skill": "AdjustPosture", "language_memory": "The robot has restocked the shelf with multiple yellow and green bottled floral waters by repeatedly picking them up from the shopping cart and placing them on the shelf."}, {"start_frame": 2855, "end_frame": 3113, "action_text": "place the yellow bottled floral water on the shelf", "skill": "Place", "language_memory": "The robot has restocked multiple yellow and green bottled floral waters onto the shelf by repeatedly picking them up from the shopping cart and placing them on the shelf."}, {"start_frame": 3113, "end_frame": 3345, "action_text": "place the green bottled floral water on the shelf", "skill": "Place", "language_memory": "The robot has restocked multiple yellow and green bottled floral waters onto the shelf by repeatedly picking them up from the shopping cart and placing them on the shelf."}], "detailed_task_instruction": ["Restock the bottled floral water by repeatedly retrieving yellow and green bottles from the shopping cart and placing them on the shelf. To accomplish this, bend over, decrease height, and adjust your posture to pick up a yellow bottle followed by a green bottle from the cart. Rotate your waist as needed to reach the shelf, then clamp and place the yellow bottle, followed by the green bottle, onto the shelf. Repeat this sequence of picking up both colored bottles from the cart and placing them on the shelf until the restocking task is complete."]}
{"task_id": "task_3402", "episode_index": 10, "video_path": "task_3402/videos/chunk-000/{video_key}/episode_000010.mp4", "tasks": ["Restocking the bottled floral water."], "length": 3956, "action_config": [{"start_frame": 51, "end_frame": 133, "action_text": "decrease height", "skill": "AdjustPosture", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 133, "end_frame": 374, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot has decreased its height."}, {"start_frame": 374, "end_frame": 620, "action_text": "pick up the blue bottled floral water in the shopping cart", "skill": "Pick", "language_memory": "The robot has decreased its height and bent over."}, {"start_frame": 620, "end_frame": 796, "action_text": "clamp", "skill": "Clamp", "language_memory": "The robot decreased its height, bent over, and picked up the blue bottled floral water from the shopping cart."}, {"start_frame": 796, "end_frame": 1216, "action_text": "pick up the green bottled floral water in the shopping cart", "skill": "Pick", "language_memory": "The robot decreased its height, bent over, picked up the blue bottled floral water from the shopping cart, and clamped."}, {"start_frame": 1216, "end_frame": 1265, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot decreased its height, bent over, clamped, and picked up the blue and green bottled floral waters from the shopping cart."}, {"start_frame": 1265, "end_frame": 1424, "action_text": "decrease height", "skill": "AdjustPosture", "language_memory": "The robot decreased its height, bent over, clamped, and picked up the blue and green bottled floral waters from the shopping cart before adjusting its posture."}, {"start_frame": 1424, "end_frame": 1806, "action_text": "place the blue bottled floral water on the shelf", "skill": "Place", "language_memory": "The robot decreased its height, bent over, clamped, and picked up the blue and green bottled floral waters from the shopping cart before adjusting its posture."}, {"start_frame": 1806, "end_frame": 2028, "action_text": "place the green bottled floral water on the shelf", "skill": "Place", "language_memory": "The robot decreased its height, bent over, picked up the blue and green bottled floral waters from the shopping cart, clamped, adjusted its posture, and placed the blue bottled floral water on the shelf."}, {"start_frame": 2028, "end_frame": 2085, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot decreased its height, bent over, picked up the blue and green bottled floral water from the shopping cart, clamped, adjusted its posture, and placed both bottles on the shelf."}, {"start_frame": 2085, "end_frame": 2169, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot decreased its height, bent over, picked up blue and green bottled floral water from the shopping cart, clamped, adjusted its posture, and placed both bottles on the shelf."}, {"start_frame": 2169, "end_frame": 2261, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot decreased its height, bent over, picked up blue and green bottled floral water from the shopping cart, clamped, adjusted its posture, placed both bottles on the shelf, and rotated its waist."}, {"start_frame": 2261, "end_frame": 2626, "action_text": "pick up the yellow bottled floral water in the shopping cart", "skill": "Pick", "language_memory": "The robot decreased its height, bent over, picked up blue and green bottled floral water from the shopping cart, clamped, adjusted its posture, rotated its waist, and placed both bottles on the shelf."}, {"start_frame": 2626, "end_frame": 2921, "action_text": "pick up the green bottled floral water from the shopping cart", "skill": "Pick", "language_memory": "The robot decreased its height, bent over, picked up the blue and green bottled floral water from the shopping cart, clamped, adjusted its posture, placed the blue and green bottled floral water on the shelf, rotated its waist, and picked up the yellow bottled floral water from the shopping cart."}, {"start_frame": 2921, "end_frame": 2978, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot decreased height, bent over, clamped, and picked up blue, green, and yellow bottled floral waters from the shopping cart, adjusted its posture, rotated its waist, and placed the blue and green bottled floral waters on the shelf."}, {"start_frame": 2978, "end_frame": 3142, "action_text": "decrease height", "skill": "AdjustPosture", "language_memory": "The robot has decreased its height, bent over, picked up blue, green, and yellow bottled floral waters from the shopping cart, clamped, adjusted its posture, rotated its waist, and placed the blue and green bottled floral waters on the shelf."}, {"start_frame": 3142, "end_frame": 3482, "action_text": "place the yellow bottled floral water on the shelf", "skill": "Place", "language_memory": "The robot has picked up blue, green, and yellow bottled floral waters from the shopping cart and placed the blue and green bottles on the shelf."}, {"start_frame": 3482, "end_frame": 3955, "action_text": "place the green bottled floral water on the shelf", "skill": "Place", "language_memory": "The robot decreased its height, bent over, picked up blue, green, and yellow bottled floral waters from the shopping cart, clamped, adjusted its posture, rotated its waist, and placed the blue, green, and yellow bottled floral waters on the shelf."}], "detailed_task_instruction": ["Restock the bottled floral water by first adjusting your posture and bending down to pick up the blue and green bottles from the shopping cart, then placing them on the shelf. Next, rotate your waist, bend over again, and retrieve the yellow and green bottles from the cart, followed by placing both on the shelf. Ensure you decrease your height and adjust your posture as needed throughout the process to reach the items and the shelf effectively."]}
{"task_id": "task_3402", "episode_index": 11, "video_path": "task_3402/videos/chunk-000/{video_key}/episode_000011.mp4", "tasks": ["Restocking the bottled floral water."], "length": 3962, "action_config": [{"start_frame": 65, "end_frame": 204, "action_text": "decrease height", "skill": "AdjustPosture", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 204, "end_frame": 398, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot has decreased its height."}, {"start_frame": 398, "end_frame": 673, "action_text": "pick up the yellow bottled floral water in the shopping cart", "skill": "Pick", "language_memory": "The robot has decreased its height and bent over."}, {"start_frame": 673, "end_frame": 961, "action_text": "pick up the green bottled floral water in the shopping cart", "skill": "Pick", "language_memory": "The robot decreased its height, bent over, and picked up the yellow bottled floral water from the shopping cart."}, {"start_frame": 961, "end_frame": 1030, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot decreased its height, bent over, and picked up the yellow and green bottled floral waters from the shopping cart."}, {"start_frame": 1030, "end_frame": 1111, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot decreased its height, bent over, picked up the yellow and green bottled floral waters from the shopping cart, and adjusted its posture."}, {"start_frame": 1111, "end_frame": 1174, "action_text": "decrease height", "skill": "AdjustPosture", "language_memory": "The robot decreased its height, bent over, picked up yellow and green bottled floral water from the shopping cart, adjusted its posture, and rotated its waist."}, {"start_frame": 1174, "end_frame": 1499, "action_text": "place the yellow bottled floral water on the shelf", "skill": "Place", "language_memory": "The robot decreased its height, bent over, picked up yellow and green bottled floral water from the shopping cart, adjusted its posture, and rotated its waist."}, {"start_frame": 1499, "end_frame": 1875, "action_text": "place the green bottled floral water on the shelf", "skill": "Place", "language_memory": "The robot decreased its height, bent over, picked up the yellow and green bottled floral waters from the shopping cart, adjusted its posture, rotated its waist, and placed the yellow bottled floral water on the shelf."}, {"start_frame": 1875, "end_frame": 1928, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot picked up yellow and green bottled floral water from the shopping cart and placed them on the shelf."}, {"start_frame": 1928, "end_frame": 2027, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up yellow and green bottled floral water from the shopping cart and placed them on the shelf."}, {"start_frame": 2027, "end_frame": 2137, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot picked up yellow and green bottled floral water from the shopping cart and placed them on the shelf."}, {"start_frame": 2137, "end_frame": 2485, "action_text": "pick up the yellow bottled floral water in the shopping cart", "skill": "Pick", "language_memory": "The robot has picked up yellow and green bottled floral water from the shopping cart and placed them on the shelf."}, {"start_frame": 2485, "end_frame": 2737, "action_text": "clamp", "skill": "Clamp", "language_memory": "The robot has picked up and placed two yellow and one green bottled floral water on the shelf, and is currently holding another yellow bottled floral water."}, {"start_frame": 2737, "end_frame": 3089, "action_text": "pick up the green bottled floral water in the shopping cart", "skill": "Pick", "language_memory": "The robot has picked up and placed two yellow and two green bottled floral waters onto the shelf."}, {"start_frame": 3089, "end_frame": 3152, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot has picked up and placed two yellow and two green bottled floral waters on the shelf, with the third green bottle currently being picked up from the shopping cart."}, {"start_frame": 3152, "end_frame": 3311, "action_text": "decrease height", "skill": "AdjustPosture", "language_memory": "The robot has picked up and placed yellow and green bottled floral water on the shelf."}, {"start_frame": 3311, "end_frame": 3656, "action_text": "place the yellow bottle of floral water on the shelf", "skill": "Place", "language_memory": "The robot has restocked the yellow and green bottled floral water onto the shelf from the shopping cart."}, {"start_frame": 3656, "end_frame": 3961, "action_text": "place the green bottled floral water on the shelf", "skill": "Place", "language_memory": "The robot has restocked multiple yellow and green bottled floral waters onto the shelf from the shopping cart."}], "detailed_task_instruction": ["Restock the bottled floral water by first adjusting your posture, bending over, and decreasing height to pick up the yellow and green bottles from the shopping cart. Rotate your waist and adjust your posture again before placing both bottles on the shelf. Repeat this sequence by bending over, decreasing height, and picking up the yellow and green bottles from the cart once more. Finally, clamp the yellow bottle, adjust your posture, decrease height, and place both the yellow and green bottles on the shelf to complete the restocking process."]}
{"task_id": "task_3402", "episode_index": 12, "video_path": "task_3402/videos/chunk-000/{video_key}/episode_000012.mp4", "tasks": ["Restocking the bottled floral water."], "length": 4295, "action_config": [{"start_frame": 42, "end_frame": 139, "action_text": "decrease height", "skill": "AdjustPosture", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 139, "end_frame": 356, "action_text": "pick up the yellow bottle of floral water from the shelf", "skill": "Pick", "language_memory": "The robot has decreased its height."}, {"start_frame": 356, "end_frame": 551, "action_text": "pick up the green bottled floral water on the shelf", "skill": "Pick", "language_memory": "The robot decreased its height and picked up the yellow bottle of floral water from the shelf."}, {"start_frame": 551, "end_frame": 607, "action_text": "increase height", "skill": "AdjustPosture", "language_memory": "The robot decreased its height and picked up the yellow and green bottles of floral water from the shelf."}, {"start_frame": 607, "end_frame": 808, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot decreased its height, picked up the yellow and green bottles of floral water from the shelf, and increased its height."}, {"start_frame": 808, "end_frame": 982, "action_text": "place the green bottled floral water into the shopping cart", "skill": "Place", "language_memory": "The robot decreased its height, picked up the yellow and green bottles of floral water from the shelf, increased its height, and bent over."}, {"start_frame": 982, "end_frame": 1188, "action_text": "place the yellow bottled floral water into the shopping cart", "skill": "Place", "language_memory": "The robot decreased its height, picked up the yellow and green bottles of floral water from the shelf, increased its height, bent over, and placed the green bottle into the shopping cart."}, {"start_frame": 1188, "end_frame": 1249, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot decreased and increased its height, bent over, and placed both the yellow and green bottled floral waters into the shopping cart."}, {"start_frame": 1249, "end_frame": 1402, "action_text": "decrease height", "skill": "AdjustPosture", "language_memory": "The robot decreased its height, picked up yellow and green bottled floral water from the shelf, increased its height, bent over, placed both bottles into the shopping cart, and adjusted its posture."}, {"start_frame": 1402, "end_frame": 1643, "action_text": "pick up the yellow bottle of floral water from the shelf", "skill": "Pick", "language_memory": "The robot decreased its height, picked up yellow and green bottled floral water from the shelf, increased its height, bent over, placed both bottles into the shopping cart, adjusted its posture, and decreased its height."}, {"start_frame": 1643, "end_frame": 1830, "action_text": "pick up the green bottle of floral water from the shelf", "skill": "Pick", "language_memory": "The robot has picked up multiple yellow and green bottles of floral water from the shelf and placed them into the shopping cart."}, {"start_frame": 1830, "end_frame": 1900, "action_text": "increase height", "skill": "AdjustPosture", "language_memory": "The robot has decreased and increased its height, bent over, adjusted its posture, and placed two green and two yellow bottles of floral water into the shopping cart."}, {"start_frame": 1900, "end_frame": 2000, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has restocked the shopping cart with multiple yellow and green bottles of floral water by retrieving them from the shelf and placing them inside."}, {"start_frame": 2000, "end_frame": 2099, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot has restocked the shopping cart with multiple yellow and green bottles of floral water by retrieving them from the shelf and placing them inside."}, {"start_frame": 2099, "end_frame": 2251, "action_text": "place the yellow bottled floral water into the shopping cart", "skill": "Place", "language_memory": "The robot has restocked the shopping cart with multiple yellow and green bottles of floral water from the shelf."}, {"start_frame": 2251, "end_frame": 2463, "action_text": "place the green bottle of floral water into the shopping cart", "skill": "Place", "language_memory": "The robot has restocked the shopping cart with multiple yellow and green bottles of floral water by repeatedly picking them from the shelf and placing them into the cart."}, {"start_frame": 2463, "end_frame": 2561, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot has successfully restocked multiple yellow and green bottles of floral water into the shopping cart by repeatedly picking them up from the shelf and placing them inside."}, {"start_frame": 2561, "end_frame": 2643, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has successfully restocked multiple yellow and green bottles of floral water into the shopping cart by repeatedly picking them up from the shelf and placing them inside."}, {"start_frame": 2643, "end_frame": 2726, "action_text": "decrease height", "skill": "AdjustPosture", "language_memory": "The robot has restocked multiple yellow and green bottles of floral water into the shopping cart by repeatedly picking them up from the shelf and placing them inside."}, {"start_frame": 2726, "end_frame": 3202, "action_text": "pick up the yellow bottle of floral water from the shelf", "skill": "Pick", "language_memory": "The robot has restocked multiple yellow and green bottles of floral water into the shopping cart by repeatedly picking them up from the shelf and placing them inside."}, {"start_frame": 3202, "end_frame": 3437, "action_text": "pick up the green bottle of floral water from the shelf", "skill": "Pick", "language_memory": "The robot has restocked multiple yellow and green bottles of floral water into the shopping cart and is currently picking up a yellow bottle from the shelf."}, {"start_frame": 3437, "end_frame": 3480, "action_text": "increase height", "skill": "AdjustPosture", "language_memory": "The robot has restocked multiple yellow and green bottles of floral water into the shopping cart by repeatedly picking them up from the shelf and placing them inside."}, {"start_frame": 3480, "end_frame": 3696, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot has restocked multiple yellow and green bottles of floral water into the shopping cart by repeatedly picking them up from the shelf and placing them inside."}, {"start_frame": 3696, "end_frame": 3909, "action_text": "place the green bottled floral water into the shopping cart", "skill": "Place", "language_memory": "The robot has restocked multiple yellow and green bottles of floral water into the shopping cart and is currently bending over to reach for the next items on the shelf."}, {"start_frame": 3909, "end_frame": 4093, "action_text": "place the blue bottled floral water into the shopping cart", "skill": "Place", "language_memory": "The robot has restocked multiple yellow and green bottles of floral water into the shopping cart by repeatedly picking them up from the shelf and placing them inside."}, {"start_frame": 4093, "end_frame": 4192, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot has restocked multiple yellow, green, and blue bottles of floral water into the shopping cart by repeatedly picking them from the shelf and placing them inside."}], "detailed_task_instruction": ["Restock the bottled floral water by repeatedly adjusting your height and posture to reach the shelf. First, decrease your height, bend over, and pick up the yellow and green bottles of floral water. Increase your height, rotate your waist, and place both bottles into the shopping cart. Adjust your posture, then repeat this sequence: decrease height, bend over, pick up the yellow and green bottles, increase height, rotate your waist, and place them in the cart. Finally, perform one last cycle of decreasing height, bending over, picking up the yellow and green bottles, increasing height, and placing them in the cart, ensuring the blue bottle is also placed into the shopping cart during the final placement step."]}
{"task_id": "task_3402", "episode_index": 13, "video_path": "task_3402/videos/chunk-000/{video_key}/episode_000013.mp4", "tasks": ["Restocking the bottled floral water."], "length": 3746, "action_config": [{"start_frame": 24, "end_frame": 128, "action_text": "decrease height", "skill": "AdjustPosture", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 128, "end_frame": 334, "action_text": "pick up the yellow bottle of floral water from the shelf", "skill": "Pick", "language_memory": "The robot has decreased its height."}, {"start_frame": 334, "end_frame": 545, "action_text": "pick up the green bottle of floral water from the shelf", "skill": "Pick", "language_memory": "The robot decreased its height and picked up the yellow bottle of floral water from the shelf."}, {"start_frame": 545, "end_frame": 608, "action_text": "increase height", "skill": "AdjustPosture", "language_memory": "The robot decreased its height and picked up the yellow and green bottles of floral water from the shelf."}, {"start_frame": 608, "end_frame": 718, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot decreased its height, picked up the yellow and green bottles of floral water from the shelf, and increased its height."}, {"start_frame": 718, "end_frame": 784, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot decreased its height, picked up the yellow and green bottles of floral water from the shelf, increased its height, and rotated its waist."}, {"start_frame": 784, "end_frame": 970, "action_text": "place the green bottled floral water into the shopping cart", "skill": "Place", "language_memory": "The robot decreased its height, picked up the yellow and green bottles of floral water from the shelf, increased its height, rotated its waist, and bent over."}, {"start_frame": 970, "end_frame": 1164, "action_text": "place the yellow bottled floral water into the shopping cart", "skill": "Place", "language_memory": "The robot decreased its height, picked up yellow and green bottles of floral water from the shelf, increased its height, rotated its waist, bent over, and placed the green bottle into the shopping cart."}, {"start_frame": 1164, "end_frame": 1241, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot decreased its height, picked up yellow and green bottles of floral water from the shelf, increased its height, rotated its waist, bent over, and placed both bottles into the shopping cart."}, {"start_frame": 1241, "end_frame": 1442, "action_text": "decrease height", "skill": "AdjustPosture", "language_memory": "The robot decreased its height, picked up yellow and green bottles of floral water from the shelf, increased its height, rotated its waist, bent over, and placed both bottles into the shopping cart before adjusting its posture."}, {"start_frame": 1442, "end_frame": 1661, "action_text": "pick up the yellow bottle of floral water from the shelf", "skill": "Pick", "language_memory": "The robot decreased its height, picked up yellow and green bottles of floral water from the shelf, increased its height, rotated its waist, bent over, placed both bottles into the shopping cart, adjusted its posture, and decreased its height again."}, {"start_frame": 1661, "end_frame": 1933, "action_text": "pick up the green bottled floral water on the shelf", "skill": "Pick", "language_memory": "The robot has retrieved multiple yellow and green bottles of floral water from the shelf and successfully placed them into the shopping cart."}, {"start_frame": 1933, "end_frame": 1985, "action_text": "increase height", "skill": "AdjustPosture", "language_memory": "The robot has picked up multiple yellow and green bottles of floral water from the shelf and successfully placed them into the shopping cart."}, {"start_frame": 1985, "end_frame": 2073, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up multiple yellow and green bottles of floral water from the shelf and successfully placed them into the shopping cart."}, {"start_frame": 2073, "end_frame": 2169, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot has retrieved multiple yellow and green bottles of floral water from the shelf and successfully placed them into the shopping cart, while adjusting its posture and height throughout the process."}, {"start_frame": 2169, "end_frame": 2330, "action_text": "place the yellow bottled floral water into the shopping cart", "skill": "Place", "language_memory": "The robot has restocked the shopping cart with multiple yellow and green bottles of floral water from the shelf and is currently positioned to continue the task."}, {"start_frame": 2330, "end_frame": 2533, "action_text": "place the green bottled floral water into the shopping cart", "skill": "Place", "language_memory": "The robot has restocked the shopping cart with multiple yellow and green bottles of floral water by repeatedly picking them from the shelf and placing them into the cart."}, {"start_frame": 2533, "end_frame": 2588, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot has restocked multiple yellow and green bottles of floral water into the shopping cart by repeatedly picking them up from the shelf and placing them inside."}, {"start_frame": 2588, "end_frame": 2666, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has restocked multiple yellow and green bottles of floral water into the shopping cart by repeatedly picking them up from the shelf and placing them inside."}, {"start_frame": 2666, "end_frame": 2713, "action_text": "decrease height", "skill": "AdjustPosture", "language_memory": "The robot has restocked multiple yellow and green bottles of floral water into the shopping cart by repeatedly picking them up from the shelf and placing them inside."}, {"start_frame": 2713, "end_frame": 2889, "action_text": "pick up the yellow bottle of floral water from the shelf", "skill": "Pick", "language_memory": "The robot has restocked multiple yellow and green bottles of floral water into the shopping cart by repeatedly picking them up from the shelf and placing them inside."}, {"start_frame": 2889, "end_frame": 3084, "action_text": "pick up the green bottle of floral water from the shelf", "skill": "Pick", "language_memory": "The robot has restocked multiple yellow and green bottles of floral water into the shopping cart and is currently picking up another yellow bottle from the shelf."}, {"start_frame": 3084, "end_frame": 3139, "action_text": "increase height", "skill": "AdjustPosture", "language_memory": "The robot has restocked multiple yellow and green bottles of floral water into the shopping cart by repeatedly picking them up from the shelf and placing them inside."}, {"start_frame": 3139, "end_frame": 3317, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot has restocked multiple yellow and green bottles of floral water into the shopping cart and is currently positioned at an increased height after picking up another pair of bottles."}, {"start_frame": 3317, "end_frame": 3444, "action_text": "place the blue bottle of floral water into the shopping cart", "skill": "Place", "language_memory": "The robot has restocked multiple yellow and green bottles of floral water into the shopping cart and is currently positioned to pick up additional bottles from the shelf."}, {"start_frame": 3444, "end_frame": 3601, "action_text": "place the green bottled floral water into the shopping cart", "skill": "Place", "language_memory": "The robot has restocked multiple yellow, green, and blue bottles of floral water into the shopping cart by repeatedly picking them up from the shelf and placing them inside."}, {"start_frame": 3601, "end_frame": 3668, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot has restocked multiple yellow, green, and blue bottles of floral water into the shopping cart by repeatedly picking them from the shelf and placing them inside."}], "detailed_task_instruction": ["Restock the floral water bottles by first adjusting your posture to reach the lower shelf, then pick up the yellow and green bottles, increase your height, rotate your waist, and bend over to place them into the shopping cart. Adjust your posture, decrease your height, and repeat this sequence to retrieve and place the yellow and green bottles from the shelf into the cart. Finally, adjust your posture, decrease your height, pick up the yellow and green bottles, increase your height, bend over, and place the blue and green bottles into the shopping cart to complete the restocking process."]}
{"task_id": "task_3402", "episode_index": 14, "video_path": "task_3402/videos/chunk-000/{video_key}/episode_000014.mp4", "tasks": ["Restocking the bottled floral water."], "length": 4139, "action_config": [{"start_frame": 69, "end_frame": 204, "action_text": "decrease height", "skill": "AdjustPosture", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 204, "end_frame": 406, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot has decreased its height."}, {"start_frame": 406, "end_frame": 665, "action_text": "pick up the yellow bottled floral water in the shopping cart", "skill": "Pick", "language_memory": "The robot has decreased its height and bent over."}, {"start_frame": 665, "end_frame": 961, "action_text": "pick up the green bottled floral water from the shopping cart", "skill": "Pick", "language_memory": "The robot decreased its height, bent over, and picked up the yellow bottled floral water from the shopping cart."}, {"start_frame": 961, "end_frame": 1030, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot decreased its height, bent over, and picked up the yellow and green bottled floral waters from the shopping cart."}, {"start_frame": 1030, "end_frame": 1184, "action_text": "decrease height", "skill": "AdjustPosture", "language_memory": "The robot decreased its height, bent over, picked up the yellow and green bottled floral waters from the shopping cart, and adjusted its posture."}, {"start_frame": 1184, "end_frame": 1573, "action_text": "place the yellow bottled floral water on the shelf", "skill": "Place", "language_memory": "The robot decreased its height, bent over, picked up the yellow and green bottled floral waters from the shopping cart, and adjusted its posture."}, {"start_frame": 1573, "end_frame": 1813, "action_text": "place the green bottled floral water on the shelf", "skill": "Place", "language_memory": "The robot decreased its height, bent over, picked up the yellow and green bottled floral waters from the shopping cart, adjusted its posture, and placed the yellow bottled floral water on the shelf."}, {"start_frame": 1813, "end_frame": 1865, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot decreased its height, bent over, picked up the yellow and green bottled floral waters from the shopping cart, adjusted its posture, and placed both bottles on the shelf."}, {"start_frame": 1865, "end_frame": 2070, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot decreased its height, bent over, picked up yellow and green bottled floral water from the shopping cart, adjusted its posture, and placed both bottles on the shelf."}, {"start_frame": 2070, "end_frame": 2525, "action_text": "pick up the yellow bottle of floral water from the shopping cart", "skill": "Pick", "language_memory": "The robot decreased its height, bent over, picked up yellow and green bottled floral water from the shopping cart, adjusted its posture, and placed both bottles on the shelf."}, {"start_frame": 2525, "end_frame": 2803, "action_text": "clamp", "skill": "Clamp", "language_memory": "The robot decreased its height, bent over, picked up yellow and green bottled floral waters from the shopping cart, adjusted its posture, placed the yellow and green bottled floral waters on the shelf, and picked up another yellow bottle of floral water from the shopping cart."}, {"start_frame": 2803, "end_frame": 3136, "action_text": "pick up the green bottled floral water from the shopping cart", "skill": "Pick", "language_memory": "The robot decreased its height, bent over, picked up yellow and green bottled floral waters from the shopping cart, adjusted its posture, placed the yellow and green bottled floral waters on the shelf, and clamped."}, {"start_frame": 3136, "end_frame": 3199, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot has picked up multiple yellow and green bottled floral waters from the shopping cart and placed them on the shelf, while adjusting its posture and bending over as needed."}, {"start_frame": 3199, "end_frame": 3295, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up and placed yellow and green bottled floral waters from the shopping cart onto the shelf, adjusting its posture and bending over as needed during the process."}, {"start_frame": 3295, "end_frame": 3375, "action_text": "decrease height", "skill": "AdjustPosture", "language_memory": "The robot decreased its height, bent over, and picked up yellow and green bottled floral waters from the shopping cart, adjusted its posture, placed the yellow and green bottled floral waters on the shelf, adjusted its posture again, bent over, picked up another yellow and green bottled floral water from the shopping cart, clamped, and rotated its waist."}, {"start_frame": 3375, "end_frame": 3702, "action_text": "place the yellow bottled floral water on the shelf", "skill": "Place", "language_memory": "The robot has picked up and placed multiple yellow and green bottled floral waters from the shopping cart onto the shelf, while adjusting its posture and bending over throughout the process."}, {"start_frame": 3702, "end_frame": 3899, "action_text": "clamp the object", "skill": "Clamp", "language_memory": "The robot has picked up and placed multiple yellow and green bottled floral waters from the shopping cart onto the shelf, adjusting its posture and height throughout the process."}, {"start_frame": 3899, "end_frame": 4138, "action_text": "place the green bottled floral water on the shelf", "skill": "Place", "language_memory": "The robot has picked up multiple yellow and green bottled floral waters from the shopping cart and successfully placed them on the shelf, while adjusting its posture and height throughout the process."}], "detailed_task_instruction": ["Restock the bottled floral water by first bending over to decrease height, then picking up the yellow and green bottled floral water from the shopping cart. Adjust your posture and place both bottles on the shelf. Next, bend over again to decrease height, pick up the yellow bottle, clamp it, and place it on the shelf. Finally, adjust your posture, rotate your waist, decrease height, pick up the green bottle, clamp it, and place it on the shelf to complete the restocking process."]}
{"task_id": "task_3402", "episode_index": 15, "video_path": "task_3402/videos/chunk-000/{video_key}/episode_000015.mp4", "tasks": ["Restocking the bottled floral water."], "length": 3814, "action_config": [{"start_frame": 68, "end_frame": 148, "action_text": "decrease height", "skill": "AdjustPosture", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 148, "end_frame": 326, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot has decreased its height."}, {"start_frame": 326, "end_frame": 596, "action_text": "pick up the yellow bottled floral water in the shopping cart", "skill": "Pick", "language_memory": "The robot has decreased its height and bent over."}, {"start_frame": 596, "end_frame": 989, "action_text": "pick up the green bottled floral water from the shopping cart", "skill": "Pick", "language_memory": "The robot decreased its height, bent over, and picked up the yellow bottled floral water from the shopping cart."}, {"start_frame": 989, "end_frame": 1063, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot decreased its height, bent over, and picked up the yellow and green bottled floral waters from the shopping cart."}, {"start_frame": 1063, "end_frame": 1203, "action_text": "decrease height", "skill": "AdjustPosture", "language_memory": "The robot decreased its height, bent over, picked up the yellow and green bottled floral waters from the shopping cart, and adjusted its posture."}, {"start_frame": 1203, "end_frame": 1482, "action_text": "place the yellow bottle of floral water on the shelf", "skill": "Place", "language_memory": "The robot decreased its height, bent over, picked up the yellow and green bottled floral waters from the shopping cart, and adjusted its posture."}, {"start_frame": 1482, "end_frame": 1738, "action_text": "place the green bottled floral water on the shelf", "skill": "Place", "language_memory": "The robot decreased its height, bent over, picked up the yellow and green bottled floral waters from the shopping cart, adjusted its posture, and placed the yellow bottle on the shelf."}, {"start_frame": 1738, "end_frame": 1791, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot decreased its height, bent over, picked up the yellow and green bottled floral water from the shopping cart, adjusted its posture, and placed both bottles on the shelf."}, {"start_frame": 1791, "end_frame": 1888, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot decreased its height, bent over, picked up yellow and green bottled floral water from the shopping cart, adjusted its posture, and placed both bottles on the shelf."}, {"start_frame": 1888, "end_frame": 1982, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot decreased its height, bent over, picked up yellow and green bottled floral water from the shopping cart, adjusted its posture, placed both bottles on the shelf, and rotated its waist."}, {"start_frame": 1982, "end_frame": 2344, "action_text": "pick up the yellow bottle of floral water from the shopping cart", "skill": "Pick", "language_memory": "The robot decreased its height, bent over, picked up yellow and green bottled floral water from the shopping cart, adjusted its posture, rotated its waist, and placed both bottles on the shelf."}, {"start_frame": 2344, "end_frame": 2831, "action_text": "pick up the green bottled floral water in the shopping cart", "skill": "Pick", "language_memory": "The robot decreased its height, bent over, picked up yellow and green bottled floral waters from the shopping cart, adjusted its posture, rotated its waist, and placed the yellow and green bottles on the shelf before picking up another yellow bottle from the shopping cart."}, {"start_frame": 2831, "end_frame": 2901, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot has restocked the yellow and green bottled floral water onto the shelf from the shopping cart."}, {"start_frame": 2901, "end_frame": 2992, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has restocked the yellow and green bottled floral water onto the shelf from the shopping cart."}, {"start_frame": 2992, "end_frame": 3091, "action_text": "decrease height", "skill": "AdjustPosture", "language_memory": "The robot has restocked the yellow and green bottled floral water onto the shelf from the shopping cart."}, {"start_frame": 3091, "end_frame": 3394, "action_text": "place the green bottled floral water on the shelf", "skill": "Place", "language_memory": "The robot has restocked the yellow and green bottled floral water onto the shelf from the shopping cart."}, {"start_frame": 3394, "end_frame": 3566, "action_text": "clamp the object", "skill": "Clamp", "language_memory": "The robot has restocked the yellow and green bottled floral water onto the shelf from the shopping cart."}, {"start_frame": 3566, "end_frame": 3813, "action_text": "place the yellow bottle of floral water on the shelf", "skill": "Place", "language_memory": "The robot has restocked multiple yellow and green bottled floral waters onto the shelf by repeatedly picking them up from the shopping cart and placing them on the shelf, while adjusting its posture and bending over as needed."}], "detailed_task_instruction": ["Restock the bottled floral water by first adjusting your posture and bending down to pick up the yellow and green bottles from the shopping cart, then placing them on the shelf. After adjusting your posture and rotating your waist, bend over again to retrieve the yellow and green bottles from the cart once more. Finally, adjust your posture, rotate your waist, lower your height, clamp the object, and place the remaining yellow bottle on the shelf to complete the restocking process."]}
{"task_id": "task_3402", "episode_index": 16, "video_path": "task_3402/videos/chunk-000/{video_key}/episode_000016.mp4", "tasks": ["Restocking the bottled floral water."], "length": 4329, "action_config": [{"start_frame": 0, "end_frame": 95, "action_text": "decrease height", "skill": "AdjustPosture", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 95, "end_frame": 138, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot has decreased its height."}, {"start_frame": 138, "end_frame": 356, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot has decreased its height and adjusted its posture."}, {"start_frame": 356, "end_frame": 628, "action_text": "pick up the green bottled floral water in the shopping cart", "skill": "Pick", "language_memory": "The robot has decreased its height, adjusted its posture, and bent over."}, {"start_frame": 628, "end_frame": 858, "action_text": "clamp the object", "skill": "Clamp", "language_memory": "The robot decreased its height, adjusted its posture, bent over, and picked up the green bottled floral water from the shopping cart."}, {"start_frame": 858, "end_frame": 967, "action_text": "hand over the green bottled floral water", "skill": "Handover", "language_memory": "The robot decreased its height, adjusted its posture, bent over, picked up the green bottled floral water from the shopping cart, and clamped the object."}, {"start_frame": 967, "end_frame": 1216, "action_text": "pick up the blue bottled floral water in the shopping cart", "skill": "Pick", "language_memory": "The robot decreased its height, adjusted its posture, bent over, picked up the green bottled floral water from the shopping cart, clamped the object, and handed it over."}, {"start_frame": 1216, "end_frame": 1276, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot decreased its height, adjusted its posture, bent over, picked up the green and blue bottled floral waters from the shopping cart, clamped the objects, and handed over the green bottled floral water."}, {"start_frame": 1276, "end_frame": 1415, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot adjusted its posture, bent over, picked up green and blue bottled floral water from the shopping cart, clamped the objects, and handed over the green bottled floral water."}, {"start_frame": 1415, "end_frame": 1639, "action_text": "place the blue bottled floral water on the shelf", "skill": "Place", "language_memory": "The robot adjusted its posture, bent over, picked up green and blue bottled floral water from the shopping cart, clamped the objects, and handed over the green bottled floral water."}, {"start_frame": 1639, "end_frame": 2064, "action_text": "place the green bottled floral water on the shelf", "skill": "Place", "language_memory": "The robot adjusted its posture, bent over, picked up green and blue bottled floral water from the shopping cart, clamped the objects, handed over the green bottle, and placed the blue bottle on the shelf."}, {"start_frame": 2064, "end_frame": 2117, "action_text": "pick up the object", "skill": "Pick", "language_memory": "The robot adjusted its posture, picked up green and blue bottled floral water from the shopping cart, and placed both on the shelf."}, {"start_frame": 2117, "end_frame": 2302, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot adjusted its posture, picked up green and blue bottled floral water from the shopping cart, and placed both on the shelf."}, {"start_frame": 2302, "end_frame": 2576, "action_text": "pick up the yellow bottle of floral water from the shopping cart", "skill": "Pick", "language_memory": "The robot adjusted its posture, bent over, picked up green and blue bottled floral water from the shopping cart, clamped the objects, handed over the green bottle, and placed both bottles on the shelf."}, {"start_frame": 2576, "end_frame": 2718, "action_text": "clamp the object", "skill": "Clamp", "language_memory": "The robot adjusted its posture, bent over, picked up green, blue, and yellow bottled floral water from the shopping cart, clamped the objects, and placed the blue and green bottles on the shelf."}, {"start_frame": 2718, "end_frame": 3232, "action_text": "pick up the green bottled floral water from the shopping cart", "skill": "Pick", "language_memory": "The robot adjusted its posture, bent over, picked up green, blue, and yellow bottled floral water from the shopping cart, clamped the objects, and placed the blue and green bottles on the shelf."}, {"start_frame": 3232, "end_frame": 3296, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot adjusted its posture, bent over, and picked up green, blue, and yellow bottled floral waters from the shopping cart, clamped the objects, and placed the blue and green bottles on the shelf."}, {"start_frame": 3296, "end_frame": 3393, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot adjusted its posture, bent over, picked up green, blue, and yellow bottled floral waters from the shopping cart, clamped the objects, and placed the blue and green bottles on the shelf."}, {"start_frame": 3393, "end_frame": 3493, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot adjusted its posture, bent over, and picked up green, blue, and yellow bottled floral waters from the shopping cart before placing the blue and green bottles on the shelf."}, {"start_frame": 3493, "end_frame": 3846, "action_text": "place the yellow bottled floral water on the shelf", "skill": "Place", "language_memory": "The robot adjusted its posture, bent over, and picked up green, blue, and yellow bottled floral waters from the shopping cart before placing the blue and green bottles on the shelf."}, {"start_frame": 3846, "end_frame": 4047, "action_text": "clamp the object", "skill": "Clamp", "language_memory": "The robot adjusted its posture, bent over, and picked up green, blue, and yellow bottled floral waters from the shopping cart before placing all three on the shelf."}, {"start_frame": 4047, "end_frame": 4328, "action_text": "place the green bottled floral water on the shelf", "skill": "Place", "language_memory": "The robot has adjusted its posture, bent over, and successfully picked up and placed green, blue, and yellow bottled floral waters from the shopping cart onto the shelf."}], "detailed_task_instruction": ["Restock the bottled floral water by first adjusting your posture and bending down to pick up the green bottle from the shopping cart, clamping it, and placing it on the shelf. Next, adjust your posture again to pick up the blue bottle from the cart, clamp it, and place it on the shelf. Then, rotate your waist to reach the yellow bottle in the cart, clamp it, and place it on the shelf. Finally, adjust your posture, bend over, pick up the remaining green bottle from the cart, clamp it, and place it on the shelf to complete the restocking process."]}
{"task_id": "task_3402", "episode_index": 17, "video_path": "task_3402/videos/chunk-000/{video_key}/episode_000017.mp4", "tasks": ["Restocking the bottled floral water."], "length": 3132, "action_config": [{"start_frame": 0, "end_frame": 100, "action_text": "decrease height", "skill": "AdjustPosture", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 100, "end_frame": 272, "action_text": "pick up the yellow bottle of floral water from the shelf", "skill": "Pick", "language_memory": "The robot has decreased its height."}, {"start_frame": 272, "end_frame": 516, "action_text": "pick up the green bottle of floral water from the shelf", "skill": "Pick", "language_memory": "The robot decreased its height and picked up the yellow bottle of floral water from the shelf."}, {"start_frame": 516, "end_frame": 590, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot decreased its height and picked up the yellow and green bottles of floral water from the shelf."}, {"start_frame": 590, "end_frame": 686, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot decreased its height, picked up the yellow and green bottles of floral water from the shelf, and adjusted its posture."}, {"start_frame": 686, "end_frame": 987, "action_text": "place the green bottled floral water into the shopping cart", "skill": "Place", "language_memory": "The robot decreased its height, picked up the yellow and green bottles of floral water from the shelf, adjusted its posture, and bent over."}, {"start_frame": 987, "end_frame": 1277, "action_text": "place the yellow bottle of floral water into the shopping cart", "skill": "Place", "language_memory": "The robot decreased its height, picked up yellow and green bottles of floral water from the shelf, adjusted its posture, bent over, and placed the green bottle into the shopping cart."}, {"start_frame": 1277, "end_frame": 1329, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot decreased its height, picked up yellow and green bottles of floral water from the shelf, adjusted its posture, bent over, and placed both bottles into the shopping cart."}, {"start_frame": 1329, "end_frame": 1603, "action_text": "as the height decreases, the waist bends downward", "skill": "AdjustPosture", "language_memory": "The robot decreased its height, picked up the yellow and green bottles of floral water from the shelf, adjusted its posture, bent over, and placed both bottles into the shopping cart."}, {"start_frame": 1603, "end_frame": 1864, "action_text": "pick up the yellow bottle of floral water from the shelf", "skill": "Pick", "language_memory": "The robot decreased its height, picked up yellow and green bottles of floral water from the shelf, adjusted its posture, bent over, and placed both bottles into the shopping cart."}, {"start_frame": 1864, "end_frame": 2125, "action_text": "pick up the green bottled floral water on the shelf", "skill": "Pick", "language_memory": "The robot has picked up multiple yellow and green bottles of floral water from the shelf and placed them into the shopping cart while adjusting its posture."}, {"start_frame": 2125, "end_frame": 2185, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot has picked up multiple yellow and green bottles of floral water from the shelf and placed them into the shopping cart while adjusting its posture and bending down."}, {"start_frame": 2185, "end_frame": 2273, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot has decreased its height, picked up multiple yellow and green bottles of floral water from the shelf, adjusted its posture, bent over, and placed the green and yellow bottles into the shopping cart."}, {"start_frame": 2273, "end_frame": 2527, "action_text": "place the green bottled floral water into the shopping cart", "skill": "Place", "language_memory": "The robot has decreased its height, bent over, and successfully placed the green and yellow bottles of floral water into the shopping cart, while also adjusting its posture multiple times."}, {"start_frame": 2527, "end_frame": 2748, "action_text": "hand over the yellow bottle of floral water", "skill": "Handover", "language_memory": "The robot has successfully retrieved multiple yellow and green bottles of floral water from the shelf and placed them into the shopping cart, while adjusting its posture and bending down to access lower shelves."}, {"start_frame": 2748, "end_frame": 2954, "action_text": "place the yellow bottled floral water into the shopping cart", "skill": "Place", "language_memory": "The robot has successfully restocked multiple yellow and green bottles of floral water into the shopping cart by repeatedly picking them up from the shelf and placing them inside, while adjusting its posture and bending down as needed."}, {"start_frame": 2954, "end_frame": 3024, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot has successfully restocked multiple yellow and green bottles of floral water into the shopping cart by repeatedly picking them up from the shelf and placing them inside."}, {"start_frame": 3024, "end_frame": 3097, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot has successfully restocked multiple yellow and green bottles of floral water into the shopping cart by repeatedly picking them up from the shelf and placing them inside, while adjusting its posture and bending over as needed."}, {"start_frame": 3097, "end_frame": 3131, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has successfully restocked multiple yellow and green bottles of floral water into the shopping cart by repeatedly picking them up from the shelf and placing them inside, while adjusting its posture and bending down as needed."}], "detailed_task_instruction": ["Adjust your posture and bend over to decrease your height as you reach for the floral water bottles on the shelf. First, pick up the green bottle and place it into the shopping cart. Next, retrieve the yellow bottle and add it to the cart as well. Continue this process by picking up the green bottle again, placing it in the cart, followed by picking up the yellow bottle and handing it over before placing it into the shopping cart. Throughout these actions, adjust your robot posture, bend your waist downward as your height decreases, and rotate your waist to maintain balance and reach the items effectively. Ensure all yellow and green bottled floral water is successfully transferred from the shelf to the shopping cart."]}
{"task_id": "task_3402", "episode_index": 18, "video_path": "task_3402/videos/chunk-000/{video_key}/episode_000018.mp4", "tasks": ["Restocking the bottled floral water."], "length": 3483, "action_config": [{"start_frame": 106, "end_frame": 210, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 210, "end_frame": 425, "action_text": "pick up the green bottled floral water on the shelf", "skill": "Pick", "language_memory": "The robot has adjusted its posture."}, {"start_frame": 425, "end_frame": 633, "action_text": "pick up the green bottled floral water on the shelf", "skill": "Pick", "language_memory": "The robot adjusted its posture and picked up the green bottled floral water from the shelf."}, {"start_frame": 633, "end_frame": 707, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot adjusted its posture and picked up two green bottled floral waters from the shelf."}, {"start_frame": 707, "end_frame": 846, "action_text": "bend the body downward while rotating the waist", "skill": "AdjustPosture", "language_memory": "The robot adjusted its posture and picked up two green bottled floral waters from the shelf."}, {"start_frame": 846, "end_frame": 1047, "action_text": "place the green bottled floral water into the shopping cart", "skill": "Place", "language_memory": "The robot adjusted its posture, picked up two green bottled floral waters from the shelf, and bent its body downward while rotating its waist."}, {"start_frame": 1047, "end_frame": 1194, "action_text": "place the green bottled floral water into the shopping cart", "skill": "Place", "language_memory": "The robot adjusted its posture, picked up green bottled floral water from the shelf, and placed it into the shopping cart."}, {"start_frame": 1194, "end_frame": 1401, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot adjusted its posture, picked up two green bottled floral waters from the shelf, and placed them into the shopping cart."}, {"start_frame": 1401, "end_frame": 1430, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot adjusted its posture, picked up two green bottled floral waters from the shelf, and placed them into the shopping cart."}, {"start_frame": 1430, "end_frame": 1603, "action_text": "pick up the green bottled floral water on the shelf", "skill": "Pick", "language_memory": "The robot adjusted its posture, picked up two green bottled floral waters from the shelf, and placed them into the shopping cart."}, {"start_frame": 1603, "end_frame": 1880, "action_text": "pick up the green bottled floral water from the shelf", "skill": "Pick", "language_memory": "The robot adjusted its posture multiple times, picked up several green bottled floral waters from the shelf, and placed them into the shopping cart."}, {"start_frame": 1880, "end_frame": 1992, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot adjusted its posture multiple times, picked up several green bottled floral waters from the shelf, and placed them into the shopping cart."}, {"start_frame": 1992, "end_frame": 2044, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot adjusted its posture multiple times, picked up several green bottled floral waters from the shelf, and placed them into the shopping cart."}, {"start_frame": 2044, "end_frame": 2201, "action_text": "place the green bottle of floral water into the shopping cart", "skill": "Place", "language_memory": "The robot adjusted its posture multiple times, picked up several green bottled floral waters from the shelf, and placed them into the shopping cart."}, {"start_frame": 2201, "end_frame": 2362, "action_text": "place the yellow bottled floral water into the shopping cart", "skill": "Place", "language_memory": "The robot adjusted its posture multiple times, picked up several green bottled floral waters from the shelf, and placed them into the shopping cart."}, {"start_frame": 2362, "end_frame": 2498, "action_text": "bend the body downward while rotating the waist", "skill": "AdjustPosture", "language_memory": "The robot adjusted its posture multiple times, picked up green and yellow bottled floral waters from the shelf, and placed them into the shopping cart."}, {"start_frame": 2498, "end_frame": 2814, "action_text": "pick up the blue bottle of floral water from the shelf", "skill": "Pick", "language_memory": "The robot adjusted its posture multiple times, picked up green and yellow bottled floral waters from the shelf, and placed them into the shopping cart."}, {"start_frame": 2814, "end_frame": 3017, "action_text": "pick up the green bottled floral water from the shelf", "skill": "Pick", "language_memory": "The robot adjusted its posture multiple times, picked up green, yellow, and blue bottled floral waters from the shelf, and placed the green and yellow bottles into the shopping cart."}, {"start_frame": 3017, "end_frame": 3120, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot adjusted its posture multiple times, bent down and rotated its waist to reach the shelf, picked up several green, yellow, and blue bottled floral waters, and placed them into the shopping cart."}, {"start_frame": 3120, "end_frame": 3161, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot adjusted its posture multiple times, picked up several green, yellow, and blue bottled floral waters from the shelf, and placed them into the shopping cart."}, {"start_frame": 3161, "end_frame": 3259, "action_text": "place the green bottled floral water into the shopping cart", "skill": "Place", "language_memory": "The robot adjusted its posture multiple times, bent down and rotated its waist to reach the shelf, picked up several green, yellow, and blue bottled floral waters, and placed them into the shopping cart."}, {"start_frame": 3259, "end_frame": 3360, "action_text": "place the blue bottled floral water into the shopping cart", "skill": "Place", "language_memory": "The robot adjusted its posture multiple times, bent down and rotated its waist to reach the shelf, picked up several green, yellow, and blue bottled floral waters, and placed them into the shopping cart."}, {"start_frame": 3360, "end_frame": 3455, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot adjusted its posture multiple times, bent down and rotated its waist to reach the shelf, picked up several green, yellow, and blue bottled floral waters, and placed them into the shopping cart."}, {"start_frame": 3455, "end_frame": 3482, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot adjusted its posture multiple times, bent down to rotate its waist, and successfully picked up and placed green, yellow, and blue bottled floral waters from the shelf into the shopping cart."}], "detailed_task_instruction": ["Restock the floral water bottles by first adjusting your posture, then picking up a green bottled floral water from the shelf and placing it into the shopping cart. Repeat this process for additional green bottled floral waters found on the shelf. Next, pick up a yellow bottled floral water and place it in the cart, followed by picking up a blue bottled floral water and placing it in the cart. Finally, pick up another green bottled floral water from the shelf and place it into the shopping cart to complete the restocking task."]}
{"task_id": "task_3402", "episode_index": 19, "video_path": "task_3402/videos/chunk-000/{video_key}/episode_000019.mp4", "tasks": ["Restocking the bottled floral water."], "length": 3250, "action_config": [{"start_frame": 0, "end_frame": 80, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 80, "end_frame": 320, "action_text": "pick up the yellow bottle of floral water from the shelf", "skill": "Pick", "language_memory": "The robot has adjusted its posture."}, {"start_frame": 320, "end_frame": 556, "action_text": "pick up the green bottled floral water on the shelf", "skill": "Pick", "language_memory": "The robot adjusted its posture and picked up the yellow bottle of floral water from the shelf."}, {"start_frame": 556, "end_frame": 704, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot adjusted its posture and picked up the yellow and green bottles of floral water from the shelf."}, {"start_frame": 704, "end_frame": 759, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot adjusted its posture and picked up yellow and green bottled floral waters from the shelf."}, {"start_frame": 759, "end_frame": 1039, "action_text": "place the yellow bottled floral water into the shopping cart", "skill": "Place", "language_memory": "The robot adjusted its posture, picked up a yellow and a green bottle of floral water from the shelf, and bent over."}, {"start_frame": 1039, "end_frame": 1351, "action_text": "place the green bottled floral water into the shopping cart", "skill": "Place", "language_memory": "The robot adjusted its posture, picked up yellow and green bottled floral water from the shelf, and placed the yellow bottle into the shopping cart."}, {"start_frame": 1351, "end_frame": 1552, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot adjusted its posture, picked up yellow and green bottled floral water from the shelf, and placed both bottles into the shopping cart."}, {"start_frame": 1552, "end_frame": 1640, "action_text": "as the height decreases, the waist bends downward", "skill": "AdjustPosture", "language_memory": "The robot adjusted its posture, picked up yellow and green bottled floral water from the shelf, and placed both bottles into the shopping cart."}, {"start_frame": 1640, "end_frame": 2089, "action_text": "pick up the green bottled floral water on the shelf", "skill": "Pick", "language_memory": "The robot adjusted its posture, picked up yellow and green bottled floral water from the shelf, and placed both bottles into the shopping cart."}, {"start_frame": 2089, "end_frame": 2333, "action_text": "pick up the green bottled floral water on the shelf", "skill": "Pick", "language_memory": "The robot adjusted its posture multiple times, picked up yellow and green bottled floral waters from the shelf, and placed them into the shopping cart."}, {"start_frame": 2333, "end_frame": 2528, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot adjusted its posture multiple times, bent over, and successfully picked up and placed two yellow and two green bottles of floral water into the shopping cart."}, {"start_frame": 2528, "end_frame": 2586, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot adjusted its posture multiple times, picked up yellow and green bottled floral waters from the shelf, and placed the yellow bottle and one green bottle into the shopping cart."}, {"start_frame": 2586, "end_frame": 2792, "action_text": "place the green bottled floral water into the shopping cart", "skill": "Place", "language_memory": "The robot adjusted its posture multiple times, bent over, and successfully picked up and placed yellow and green bottled floral waters into the shopping cart."}, {"start_frame": 2792, "end_frame": 3024, "action_text": "place the green bottled floral water into the shopping cart", "skill": "Place", "language_memory": "The robot adjusted its posture multiple times, bent over to reach lower shelves, and successfully picked up and placed yellow and green bottled floral water into the shopping cart."}, {"start_frame": 3024, "end_frame": 3181, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot adjusted its posture multiple times, bent over, and successfully placed yellow and green bottled floral waters into the shopping cart."}, {"start_frame": 3181, "end_frame": 3249, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot adjusted its posture multiple times, picked up yellow and green bottled floral waters from the shelf, and placed them into the shopping cart."}], "detailed_task_instruction": ["Adjust your posture and bend over to pick up a yellow bottle of floral water and a green bottle of floral water from the shelf. Place both bottles into the shopping cart. Continue to adjust your posture and bend down further as your height decreases to retrieve additional green bottles of floral water from the shelf. Place each retrieved green bottle into the shopping cart. Repeat the process of adjusting your posture, bending over, picking up green bottles from the shelf, and placing them into the shopping cart until the restocking is complete."]}
{"task_id": "task_3404", "episode_index": 0, "video_path": "task_3404/videos/chunk-000/{video_key}/episode_000000.mp4", "tasks": ["Restocking the bagged toy."], "length": 2950, "action_config": [{"start_frame": 58, "end_frame": 122, "action_text": "decrease height", "skill": "AdjustPosture", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 122, "end_frame": 312, "action_text": "pick up the white bagged toy from the hook", "skill": "Pick", "language_memory": "The robot has decreased the height."}, {"start_frame": 312, "end_frame": 487, "action_text": "pick up the white bagged toy from the hook", "skill": "Pick", "language_memory": "The robot decreased its height and picked up the white bagged toy from the hook."}, {"start_frame": 487, "end_frame": 577, "action_text": "decrease height", "skill": "AdjustPosture", "language_memory": "The robot decreased its height and picked up the white bagged toy from the hook."}, {"start_frame": 577, "end_frame": 779, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot decreased its height and picked up the white bagged toy from the hook."}, {"start_frame": 779, "end_frame": 1020, "action_text": "place the white bagged toy into the shopping cart", "skill": "Place", "language_memory": "The robot decreased its height, picked up the white bagged toy from the hook, and bent over."}, {"start_frame": 1020, "end_frame": 1182, "action_text": "place the white bagged toy into the shopping cart", "skill": "Place", "language_memory": "The robot decreased its height, bent over, picked up the white bagged toy from the hook, and placed it into the shopping cart."}, {"start_frame": 1182, "end_frame": 1239, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot decreased its height, bent over, picked up the white bagged toy from the hook, and placed it into the shopping cart."}, {"start_frame": 1239, "end_frame": 1428, "action_text": "increase height", "skill": "AdjustPosture", "language_memory": "The robot decreased its height, bent over, picked up the white bagged toy from the hook, and placed it into the shopping cart."}, {"start_frame": 1428, "end_frame": 1783, "action_text": "pick up the white bagged toy from the hook", "skill": "Pick", "language_memory": "The robot decreased its height, picked up the white bagged toy from the hook, and placed it into the shopping cart."}, {"start_frame": 1783, "end_frame": 2104, "action_text": "pick up the white bagged toy from the hook", "skill": "Pick", "language_memory": "The robot decreased its height, bent over, and picked up the white bagged toy from the hook, then placed the white bagged toy into the shopping cart."}, {"start_frame": 2104, "end_frame": 2329, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot successfully picked up multiple white bagged toys from the hook and placed them into the shopping cart while adjusting its posture and height."}, {"start_frame": 2329, "end_frame": 2556, "action_text": "place the white bagged toy into the shopping cart", "skill": "Place", "language_memory": "The robot successfully picked up multiple white bagged toys from the hook and placed them into the shopping cart while adjusting its posture and height."}, {"start_frame": 2556, "end_frame": 2764, "action_text": "place the white bagged toy into the shopping cart", "skill": "Place", "language_memory": "The robot successfully picked up multiple white bagged toys from the hook and placed them into the shopping cart while adjusting its posture and height as needed."}, {"start_frame": 2764, "end_frame": 2814, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot successfully picked up multiple white bagged toys from the hook and placed them into the shopping cart while adjusting its posture and height as needed."}], "detailed_task_instruction": ["Adjust your height and posture as needed to reach the hooks. Pick up the white bagged toy from the hook, bend over, and place it into the shopping cart. Repeat this process to pick up another white bagged toy from the hook, bend over, and place it into the shopping cart. Finally, pick up a third white bagged toy from the hook, bend over, and place it into the shopping cart. Ensure you adjust your robot posture and height appropriately throughout the sequence to successfully restock the bagged toys into the cart."]}
{"task_id": "task_3404", "episode_index": 1, "video_path": "task_3404/videos/chunk-000/{video_key}/episode_000001.mp4", "tasks": ["Restocking the bagged toy."], "length": 2633, "action_config": [{"start_frame": 25, "end_frame": 111, "action_text": "decrease height", "skill": "AdjustPosture", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 111, "end_frame": 259, "action_text": "pick up the white bagged toy from the hook", "skill": "Pick", "language_memory": "The robot has decreased the height."}, {"start_frame": 259, "end_frame": 456, "action_text": "pick up the white bagged toy from the hook", "skill": "Pick", "language_memory": "The robot decreased its height and picked up the white bagged toy from the hook."}, {"start_frame": 456, "end_frame": 564, "action_text": "decrease height", "skill": "AdjustPosture", "language_memory": "The robot decreased its height and picked up the white bagged toy from the hook."}, {"start_frame": 564, "end_frame": 674, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot decreased its height and picked up the white bagged toy from the hook."}, {"start_frame": 674, "end_frame": 776, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot decreased its height, picked up the white bagged toy from the hook, and rotated its waist."}, {"start_frame": 776, "end_frame": 977, "action_text": "place the white bagged toy into the shopping cart", "skill": "Place", "language_memory": "The robot decreased its height, picked up the white bagged toy from the hook, rotated its waist, and bent over."}, {"start_frame": 977, "end_frame": 1140, "action_text": "place the white bagged toy into the shopping cart", "skill": "Place", "language_memory": "The robot decreased its height, picked up the white bagged toy from the hook, rotated its waist, bent over, and placed the white bagged toy into the shopping cart."}, {"start_frame": 1140, "end_frame": 1210, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot decreased its height, picked up the white bagged toy from the hook, rotated its waist, bent over, and placed the white bagged toy into the shopping cart."}, {"start_frame": 1210, "end_frame": 1374, "action_text": "increase height", "skill": "AdjustPosture", "language_memory": "The robot decreased its height, picked up the white bagged toy from the hook, rotated its waist, bent over, and placed the white bagged toy into the shopping cart before adjusting its posture."}, {"start_frame": 1374, "end_frame": 1470, "action_text": "decrease height", "skill": "AdjustPosture", "language_memory": "The robot decreased its height, picked up the white bagged toy from the hook, rotated its waist, bent over, and placed the white bagged toy into the shopping cart before adjusting its posture and increasing its height."}, {"start_frame": 1470, "end_frame": 1678, "action_text": "pick up the yellow teddy bear toy from the hook", "skill": "Pick", "language_memory": "The robot picked up the white bagged toy from the hook and placed it into the shopping cart."}, {"start_frame": 1678, "end_frame": 1855, "action_text": "pick up the white bagged toy from the hook", "skill": "Pick", "language_memory": "The robot decreased its height, picked up the white bagged toy from the hook, rotated its waist, bent over, placed the white bagged toy into the shopping cart, adjusted its posture, increased and decreased its height, and picked up the yellow teddy bear toy from the hook."}, {"start_frame": 1855, "end_frame": 1930, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot decreased its height, picked up the white bagged toy from the hook, rotated its waist, bent over, placed the white bagged toy into the shopping cart, adjusted its posture, increased and decreased its height, picked up the yellow teddy bear toy from the hook, and picked up the white bagged toy from the hook."}, {"start_frame": 1930, "end_frame": 2130, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot decreased its height, picked up white bagged toys from the hook, rotated its waist, bent over, placed the white bagged toys into the shopping cart, adjusted its posture, increased and decreased its height, and picked up a yellow teddy bear toy from the hook."}, {"start_frame": 2130, "end_frame": 2353, "action_text": "place the white bagged toy into the shopping cart", "skill": "Place", "language_memory": "The robot successfully picked up multiple white bagged toys and a yellow teddy bear from hooks and placed the bagged toys into the shopping cart while adjusting its posture and height."}, {"start_frame": 2353, "end_frame": 2490, "action_text": "place the yellow teddy bear toy into the shopping cart", "skill": "Place", "language_memory": "The robot successfully picked up multiple white bagged toys and a yellow teddy bear from hooks and placed them into the shopping cart, while adjusting its posture and height throughout the process."}, {"start_frame": 2490, "end_frame": 2545, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot successfully decreased and increased its height, rotated its waist, and adjusted its posture multiple times. It picked up and placed two white bagged toys and one yellow teddy bear toy into the shopping cart."}, {"start_frame": 2545, "end_frame": 2632, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot successfully decreased and increased its height, rotated its waist, and adjusted its posture multiple times to pick up white bagged toys and a yellow teddy bear toy from hooks, then placed all items into the shopping cart."}], "detailed_task_instruction": ["Adjust your posture and decrease your height to reach the hooks. Pick up the white bagged toy from the hook, rotate your waist, bend over, and place it into the shopping cart. Adjust your posture, increase your height, then decrease your height again to reach the next item. Pick up the yellow teddy bear toy from the hook, followed by another white bagged toy from the hook. Bend over and place both the yellow teddy bear toy and the second white bagged toy into the shopping cart. Finally, adjust your robot posture and rotate your waist to complete the restocking process."]}
{"task_id": "task_3404", "episode_index": 2, "video_path": "task_3404/videos/chunk-000/{video_key}/episode_000002.mp4", "tasks": ["Restocking the bagged toy."], "length": 2659, "action_config": [{"start_frame": 40, "end_frame": 101, "action_text": "decrease height", "skill": "AdjustPosture", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 101, "end_frame": 283, "action_text": "pick up the white bagged toy from the hook", "skill": "Pick", "language_memory": "The robot has decreased the height."}, {"start_frame": 283, "end_frame": 498, "action_text": "pick up the white bagged toy from the hook", "skill": "Pick", "language_memory": "The robot decreased its height and picked up the white bagged toy from the hook."}, {"start_frame": 498, "end_frame": 583, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot decreased its height and picked up the white bagged toy from the hook."}, {"start_frame": 583, "end_frame": 841, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot decreased its height, picked up the white bagged toy from the hook, and adjusted its posture."}, {"start_frame": 841, "end_frame": 1002, "action_text": "place the white bagged toy into the shopping cart", "skill": "Place", "language_memory": "The robot decreased its height, picked up the white bagged toy from the hook, adjusted its posture, and bent over."}, {"start_frame": 1002, "end_frame": 1132, "action_text": "place the white bagged toy into the shopping cart", "skill": "Place", "language_memory": "The robot decreased its height, picked up the white bagged toy from the hook, adjusted its posture, bent over, and placed the white bagged toy into the shopping cart."}, {"start_frame": 1132, "end_frame": 1177, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot decreased its height, picked up the white bagged toy from the hook, adjusted its posture, bent over, and placed the white bagged toy into the shopping cart."}, {"start_frame": 1177, "end_frame": 1334, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot decreased its height, picked up the white bagged toy from the hook, adjusted its posture, bent over, and placed the white bagged toy into the shopping cart."}, {"start_frame": 1334, "end_frame": 1645, "action_text": "pick up the orange bagged toy from the hook", "skill": "Pick", "language_memory": "The robot decreased its height, picked up the white bagged toy from the hook, adjusted its posture, bent over, and placed the white bagged toy into the shopping cart."}, {"start_frame": 1645, "end_frame": 1738, "action_text": "hand over the orange bagged toy", "skill": "Handover", "language_memory": "The robot decreased its height, picked up two white bagged toys from the hook, adjusted its posture, bent over, placed both white bagged toys into the shopping cart, rotated its waist, and picked up an orange bagged toy from the hook."}, {"start_frame": 1738, "end_frame": 1959, "action_text": "pick up the pink bagged toy from the hook", "skill": "Pick", "language_memory": "The robot decreased its height, picked up and placed two white bagged toys into the shopping cart, adjusted its posture, rotated its waist, picked up an orange bagged toy, and handed it over."}, {"start_frame": 1959, "end_frame": 2023, "action_text": "decrease height", "skill": "AdjustPosture", "language_memory": "The robot decreased its height, picked up and placed white, orange, and pink bagged toys into the shopping cart, and adjusted its posture and waist rotation during the process."}, {"start_frame": 2023, "end_frame": 2184, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot decreased its height, picked up and placed white, orange, and pink bagged toys into the shopping cart, adjusted its posture, rotated its waist, and handed over the orange bagged toy."}, {"start_frame": 2184, "end_frame": 2367, "action_text": "place the orange bagged toy into the shopping cart", "skill": "Place", "language_memory": "The robot decreased its height, picked up and placed white, orange, and pink bagged toys into the shopping cart, adjusted its posture, and rotated its waist."}, {"start_frame": 2367, "end_frame": 2521, "action_text": "place the pink bagged toy into the shopping cart", "skill": "Place", "language_memory": "The robot decreased its height, picked up and placed white, orange, and pink bagged toys from hooks into the shopping cart, adjusted its posture, rotated its waist, and handed over the orange bagged toy."}, {"start_frame": 2521, "end_frame": 2567, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot decreased its height, picked up white, orange, and pink bagged toys from hooks, adjusted its posture, and placed all three toys into the shopping cart."}, {"start_frame": 2567, "end_frame": 2658, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot decreased its height, picked up and placed white, orange, and pink bagged toys from hooks into the shopping cart, adjusted its posture, and rotated its waist."}], "detailed_task_instruction": ["Adjust your posture and decrease your height to reach the hooks. Pick up the white bagged toy from the hook, adjust your posture, bend over, and place it into the shopping cart. Next, rotate your waist, pick up the orange bagged toy from the hook, hand it over, then pick up the pink bagged toy from the hook. Decrease your height again, bend over, and place both the orange and pink bagged toys into the shopping cart. Finally, adjust your robot posture and rotate your waist to complete the restocking of the bagged toys."]}
{"task_id": "task_3404", "episode_index": 3, "video_path": "task_3404/videos/chunk-000/{video_key}/episode_000003.mp4", "tasks": ["Restocking the bagged toy."], "length": 2716, "action_config": [{"start_frame": 25, "end_frame": 115, "action_text": "decrease height", "skill": "AdjustPosture", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 115, "end_frame": 321, "action_text": "pick up the yellow teddy bear toy from the hook", "skill": "Pick", "language_memory": "The robot has decreased the height."}, {"start_frame": 321, "end_frame": 534, "action_text": "pick up the yellow bagged toy from the hook", "skill": "Pick", "language_memory": "The robot decreased its height and picked up the yellow teddy bear toy from the hook."}, {"start_frame": 534, "end_frame": 644, "action_text": "increase height", "skill": "AdjustPosture", "language_memory": "The robot decreased its height and picked up the yellow teddy bear toy and the yellow bagged toy from the hook."}, {"start_frame": 644, "end_frame": 849, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot decreased its height, picked up the yellow teddy bear toy and the yellow bagged toy from the hook, and then increased its height."}, {"start_frame": 849, "end_frame": 1057, "action_text": "place the yellow bagged toy into the shopping cart", "skill": "Place", "language_memory": "The robot decreased its height, picked up the yellow teddy bear toy and the yellow bagged toy from the hook, increased its height, and bent over."}, {"start_frame": 1057, "end_frame": 1214, "action_text": "place the yellow teddy bear toy into the shopping cart", "skill": "Place", "language_memory": "The robot decreased its height, picked up the yellow teddy bear toy and the yellow bagged toy from the hook, increased its height, bent over, and placed the yellow bagged toy into the shopping cart."}, {"start_frame": 1214, "end_frame": 1269, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot decreased height, picked up the yellow teddy bear and yellow bagged toy from the hook, increased height, bent over, and placed both toys into the shopping cart."}, {"start_frame": 1269, "end_frame": 1443, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot decreased its height, picked up the yellow teddy bear and yellow bagged toy from the hook, increased its height, bent over, placed both toys into the shopping cart, and adjusted its posture."}, {"start_frame": 1443, "end_frame": 1584, "action_text": "decrease height", "skill": "AdjustPosture", "language_memory": "The robot decreased its height, picked up the yellow teddy bear and yellow bagged toy from the hook, increased its height, bent over, placed both toys into the shopping cart, and adjusted its posture by rotating the waist."}, {"start_frame": 1584, "end_frame": 1774, "action_text": "pick up the small white rabbit toy from the hook", "skill": "Pick", "language_memory": "The robot decreased its height, picked up a yellow teddy bear and a yellow bagged toy from hooks, increased its height, bent over, placed both toys into the shopping cart, adjusted its posture, rotated its waist, and decreased its height again."}, {"start_frame": 1774, "end_frame": 2010, "action_text": "place the pink pig toy into the shopping cart", "skill": "Place", "language_memory": "The robot decreased height, picked up the yellow teddy bear and yellow bagged toys from the hook, increased height, bent over, placed both toys into the shopping cart, adjusted its posture, rotated its waist, decreased height again, and picked up the small white rabbit toy from the hook."}, {"start_frame": 2010, "end_frame": 2089, "action_text": "increase height", "skill": "AdjustPosture", "language_memory": "The robot decreased and increased its height, bent over, adjusted its posture, and rotated its waist to pick up the yellow teddy bear, yellow bagged toy, and small white rabbit toy from hooks, and placed the yellow bagged toy, yellow teddy bear, and pink pig toy into the shopping cart."}, {"start_frame": 2089, "end_frame": 2196, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot decreased and increased its height, bent over, adjusted its posture, and rotated its waist to pick up the yellow teddy bear, yellow bagged toy, and small white rabbit toy from hooks, and placed the yellow bagged toy, yellow teddy bear toy, and pink pig toy into the shopping cart."}, {"start_frame": 2196, "end_frame": 2285, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot decreased and increased its height, bent over, adjusted its posture, and rotated its waist to pick up the yellow teddy bear, yellow bagged toy, and small white rabbit toy from hooks, and placed the yellow bagged toy, yellow teddy bear toy, and pink pig toy into the shopping cart."}, {"start_frame": 2285, "end_frame": 2439, "action_text": "place the pink pig toy into the shopping cart", "skill": "Place", "language_memory": "The robot decreased height, picked up the yellow teddy bear and yellow bagged toys from the hook, increased height, bent over, placed both toys into the shopping cart, adjusted posture, rotated the waist, picked up the small white rabbit toy from the hook, placed the pink pig toy into the shopping cart, and finally increased height, rotated the waist, and bent over."}, {"start_frame": 2439, "end_frame": 2547, "action_text": "place the white bunny toy into the shopping cart", "skill": "Place", "language_memory": "The robot has decreased and increased its height multiple times, bent over, rotated its waist, and adjusted its posture. It successfully picked up the yellow teddy bear, yellow bagged toy, and small white rabbit toy from hooks, and placed the yellow bagged toy, yellow teddy bear, and pink pig toy into the shopping cart."}, {"start_frame": 2547, "end_frame": 2598, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot decreased and increased its height, bent over, rotated its waist, and adjusted its posture to pick up the yellow teddy bear, yellow bagged toy, small white rabbit toy, and pink pig toy from hooks, and subsequently placed all four toys into the shopping cart."}, {"start_frame": 2598, "end_frame": 2715, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has decreased and increased its height multiple times, bent over, rotated its waist, and adjusted its posture to pick up and place the yellow teddy bear, yellow bagged toy, pink pig toy, and small white rabbit toy into the shopping cart."}], "detailed_task_instruction": ["Adjust your posture and rotate your waist to access the lower hooks. Decrease your height, bend over, and pick up the yellow teddy bear toy and the yellow bagged toy from the hooks. Increase your height and place both items into the shopping cart. Rotate your waist again, decrease your height, and pick up the small white rabbit toy from the hook. Increase your height and place the white bunny toy into the shopping cart. Finally, adjust your robot posture and rotate your waist to complete the restocking of the bagged toy and associated plush items."]}
{"task_id": "task_3404", "episode_index": 4, "video_path": "task_3404/videos/chunk-000/{video_key}/episode_000004.mp4", "tasks": ["Restocking the bagged toy."], "length": 2727, "action_config": [{"start_frame": 40, "end_frame": 155, "action_text": "decrease height", "skill": "AdjustPosture", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 155, "end_frame": 345, "action_text": "pick up the white teddy bear toy from the hook", "skill": "Pick", "language_memory": "The robot has decreased the height."}, {"start_frame": 345, "end_frame": 565, "action_text": "pick up the yellow teddy bear toy from the hook", "skill": "Pick", "language_memory": "The robot decreased its height and picked up the white teddy bear toy from the hook."}, {"start_frame": 565, "end_frame": 703, "action_text": "increase height", "skill": "AdjustPosture", "language_memory": "The robot decreased its height and picked up the white and yellow teddy bear toys from the hook."}, {"start_frame": 703, "end_frame": 929, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot decreased its height, picked up the white and yellow teddy bear toys from the hook, and increased its height."}, {"start_frame": 929, "end_frame": 1121, "action_text": "place the yellow teddy bear toy into the shopping cart", "skill": "Place", "language_memory": "The robot decreased its height, picked up the white and yellow teddy bear toys from the hook, increased its height, and bent over."}, {"start_frame": 1121, "end_frame": 1223, "action_text": "place the white teddy bear toy into the shopping cart", "skill": "Place", "language_memory": "The robot decreased its height, picked up the white and yellow teddy bear toys from the hook, increased its height, bent over, and placed the yellow teddy bear toy into the shopping cart."}, {"start_frame": 1223, "end_frame": 1272, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot decreased height, picked up the white and yellow teddy bear toys from the hook, increased height, bent over, and placed both teddy bear toys into the shopping cart."}, {"start_frame": 1272, "end_frame": 1574, "action_text": "decrease height", "skill": "AdjustPosture", "language_memory": "The robot decreased its height, picked up the white and yellow teddy bear toys from the hook, increased its height, bent over, placed both teddy bear toys into the shopping cart, and adjusted its posture."}, {"start_frame": 1574, "end_frame": 1800, "action_text": "pick up the small white rabbit toy from the hook", "skill": "Pick", "language_memory": "The robot decreased its height, picked up the white and yellow teddy bear toys from the hook, increased its height, bent over, placed both teddy bear toys into the shopping cart, adjusted its posture, and decreased its height."}, {"start_frame": 1800, "end_frame": 2041, "action_text": "pick up the brown teddy bear toy from the hook", "skill": "Pick", "language_memory": "The robot decreased height, picked up the white and yellow teddy bear toys from the hook, increased height, bent over, placed both teddy bear toys into the shopping cart, adjusted its posture, decreased height again, and picked up the small white rabbit toy from the hook."}, {"start_frame": 2041, "end_frame": 2112, "action_text": "increase height", "skill": "AdjustPosture", "language_memory": "The robot decreased height, picked up the white teddy bear, yellow teddy bear, small white rabbit, and brown teddy bear toys from the hook, increased height, bent over, placed the yellow and white teddy bear toys into the shopping cart, adjusted its posture, and decreased height again."}, {"start_frame": 2112, "end_frame": 2351, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot decreased and increased its height, bent over, and adjusted its posture to pick up the white teddy bear, yellow teddy bear, small white rabbit, and brown teddy bear toys from the hook, placing the yellow and white teddy bear toys into the shopping cart."}, {"start_frame": 2351, "end_frame": 2487, "action_text": "place the brown teddy bear toy into the shopping cart", "skill": "Place", "language_memory": "The robot decreased height, picked up the white teddy bear, yellow teddy bear, small white rabbit, and brown teddy bear toys from the hook, increased height, placed the yellow and white teddy bear toys into the shopping cart, adjusted its posture, and bent over."}, {"start_frame": 2487, "end_frame": 2590, "action_text": "place the white bunny toy into the shopping cart", "skill": "Place", "language_memory": "The robot decreased and increased its height multiple times, bent over, adjusted its posture, and picked up the white teddy bear, yellow teddy bear, small white rabbit, and brown teddy bear toys from the hook before placing the yellow teddy bear, white teddy bear, and brown teddy bear toys into the shopping cart."}, {"start_frame": 2590, "end_frame": 2634, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot decreased and increased its height multiple times, bent over, adjusted its posture, and successfully picked up and placed the white teddy bear, yellow teddy bear, small white rabbit toy, and brown teddy bear toy into the shopping cart."}], "detailed_task_instruction": ["Restock the bagged toy by first adjusting your posture to a lower height, then picking up the white teddy bear and yellow teddy bear from the hook. Increase your height, bend over, and place both teddy bears into the shopping cart. Adjust your posture, decrease your height, and pick up the small white rabbit and brown teddy bear from the hook. Finally, increase your height, bend over, and place the brown teddy bear and white rabbit into the shopping cart to complete the restocking process."]}
{"task_id": "task_3404", "episode_index": 5, "video_path": "task_3404/videos/chunk-000/{video_key}/episode_000005.mp4", "tasks": ["Restocking the bagged toy."], "length": 2511, "action_config": [{"start_frame": 25, "end_frame": 98, "action_text": "decrease height", "skill": "AdjustPosture", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 98, "end_frame": 242, "action_text": "pick up the white bagged toy from the hook", "skill": "Pick", "language_memory": "The robot has decreased the height."}, {"start_frame": 242, "end_frame": 417, "action_text": "pick up the white bagged toy from the hook", "skill": "Pick", "language_memory": "The robot decreased its height and picked up the white bagged toy from the hook."}, {"start_frame": 417, "end_frame": 515, "action_text": "decrease height", "skill": "AdjustPosture", "language_memory": "The robot decreased its height and picked up the white bagged toy from the hook."}, {"start_frame": 515, "end_frame": 607, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot decreased its height and picked up the white bagged toy from the hook."}, {"start_frame": 607, "end_frame": 728, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot decreased its height, picked up the white bagged toy from the hook, and rotated its waist."}, {"start_frame": 728, "end_frame": 921, "action_text": "place the white bagged toy into the shopping cart", "skill": "Place", "language_memory": "The robot decreased its height, picked up the white bagged toy from the hook, rotated its waist, and bent over."}, {"start_frame": 921, "end_frame": 1076, "action_text": "place the white bagged toy into the shopping cart", "skill": "Place", "language_memory": "The robot decreased its height, picked up the white bagged toy from the hook, rotated its waist, bent over, and placed the white bagged toy into the shopping cart."}, {"start_frame": 1076, "end_frame": 1118, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot decreased its height, picked up the white bagged toy from the hook, rotated its waist, bent over, and placed the white bagged toy into the shopping cart."}, {"start_frame": 1118, "end_frame": 1281, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot decreased its height, picked up the white bagged toy from the hook, rotated its waist, bent over, and placed the white bagged toy into the shopping cart before adjusting its posture."}, {"start_frame": 1281, "end_frame": 1315, "action_text": "decrease height", "skill": "AdjustPosture", "language_memory": "The robot decreased its height, picked up the white bagged toy from the hook, rotated its waist, bent over, and placed the white bagged toy into the shopping cart."}, {"start_frame": 1315, "end_frame": 1534, "action_text": "pick up the white bagged toy from the hook", "skill": "Pick", "language_memory": "The robot decreased its height, picked up the white bagged toy from the hook, rotated its waist, bent over, and placed the white bagged toy into the shopping cart."}, {"start_frame": 1534, "end_frame": 1746, "action_text": "pick up the yellow teddy bear toy from the hook", "skill": "Pick", "language_memory": "The robot decreased its height, rotated its waist, and bent over to pick up the white bagged toy from the hook, then placed the toy into the shopping cart."}, {"start_frame": 1746, "end_frame": 1809, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot decreased its height, picked up two white bagged toys and one yellow teddy bear toy from the hook, and placed both white bagged toys into the shopping cart while adjusting its posture and rotating its waist."}, {"start_frame": 1809, "end_frame": 1982, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot decreased its height, rotated its waist, and bent over to pick up white bagged toys and a yellow teddy bear toy from hooks, then placed the white bagged toys into the shopping cart and adjusted its posture."}, {"start_frame": 1982, "end_frame": 2198, "action_text": "place the white bagged toy into the shopping cart", "skill": "Place", "language_memory": "The robot decreased its height, rotated its waist, and bent over to pick up white bagged toys and a yellow teddy bear toy from hooks, then placed the white bagged toys into the shopping cart while adjusting its posture."}, {"start_frame": 2198, "end_frame": 2344, "action_text": "place the yellow teddy bear toy into the shopping cart", "skill": "Place", "language_memory": "The robot decreased its height, rotated its waist, and bent over to pick up white bagged toys and a yellow teddy bear toy from hooks, then placed the white bagged toys into the shopping cart."}, {"start_frame": 2344, "end_frame": 2397, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot has picked up and placed multiple white bagged toys and a yellow teddy bear toy into the shopping cart."}], "detailed_task_instruction": ["Adjust your posture by decreasing height, rotating your waist, and bending over to pick up a white bagged toy from the hook. Place this white bagged toy into the shopping cart. Repeat this sequence to pick up a second white bagged toy from the hook and place it into the shopping cart. Finally, adjust your posture, decrease height, rotate your waist, and bend over again to pick up a third white bagged toy and a yellow teddy bear toy from the hook, placing both items into the shopping cart."]}
{"task_id": "task_3404", "episode_index": 6, "video_path": "task_3404/videos/chunk-000/{video_key}/episode_000006.mp4", "tasks": ["Restocking the bagged toy."], "length": 2538, "action_config": [{"start_frame": 45, "end_frame": 109, "action_text": "decrease height", "skill": "AdjustPosture", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 109, "end_frame": 287, "action_text": "pick up the white bagged toy from the hook", "skill": "Pick", "language_memory": "The robot has decreased the height."}, {"start_frame": 287, "end_frame": 447, "action_text": "pick up the white bagged toy from the hook", "skill": "Pick", "language_memory": "The robot decreased its height and picked up the white bagged toy from the hook."}, {"start_frame": 447, "end_frame": 520, "action_text": "decrease height", "skill": "AdjustPosture", "language_memory": "The robot decreased its height and picked up the white bagged toy from the hook."}, {"start_frame": 520, "end_frame": 627, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot decreased its height and picked up the white bagged toy from the hook."}, {"start_frame": 627, "end_frame": 764, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot decreased its height, picked up the white bagged toy from the hook, and rotated its waist."}, {"start_frame": 764, "end_frame": 955, "action_text": "place the white bagged toy into the shopping cart", "skill": "Place", "language_memory": "The robot decreased its height, picked up the white bagged toy from the hook, rotated its waist, and bent over."}, {"start_frame": 955, "end_frame": 1111, "action_text": "place the white bagged toy into the shopping cart", "skill": "Place", "language_memory": "The robot decreased its height, picked up the white bagged toy from the hook, rotated its waist, bent over, and placed the white bagged toy into the shopping cart."}, {"start_frame": 1111, "end_frame": 1162, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot decreased its height, picked up the white bagged toy from the hook, rotated its waist, bent over, and placed the white bagged toy into the shopping cart."}, {"start_frame": 1162, "end_frame": 1336, "action_text": "decrease height", "skill": "AdjustPosture", "language_memory": "The robot decreased its height, picked up the white bagged toy from the hook, rotated its waist, bent over, and placed the white bagged toy into the shopping cart before adjusting its posture."}, {"start_frame": 1336, "end_frame": 1483, "action_text": "pick up the yellow bagged toy from the hook", "skill": "Pick", "language_memory": "The robot decreased its height, picked up the white bagged toy from the hook, rotated its waist, bent over, and placed the white bagged toy into the shopping cart."}, {"start_frame": 1483, "end_frame": 1698, "action_text": "pick up the white bagged toy from the hook", "skill": "Pick", "language_memory": "The robot decreased its height, picked up two white bagged toys from the hook, rotated its waist, bent over, placed both white bagged toys into the shopping cart, adjusted its posture, and picked up a yellow bagged toy from the hook."}, {"start_frame": 1698, "end_frame": 1768, "action_text": "increase height", "skill": "AdjustPosture", "language_memory": "The robot decreased its height, rotated its waist, and bent over to pick up multiple white and yellow bagged toys from the hook, then placed them into the shopping cart before adjusting its posture."}, {"start_frame": 1768, "end_frame": 2003, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot decreased its height, picked up white and yellow bagged toys from hooks, rotated its waist, bent over, placed the bagged toys into the shopping cart, adjusted its posture, and increased its height."}, {"start_frame": 2003, "end_frame": 2203, "action_text": "place the white bagged toy into the shopping cart", "skill": "Place", "language_memory": "The robot decreased its height, picked up white and yellow bagged toys from hooks, rotated its waist, bent over, placed the white bagged toys into the shopping cart, adjusted its posture, and increased its height."}, {"start_frame": 2203, "end_frame": 2354, "action_text": "place the yellow bagged toy into the shopping cart", "skill": "Place", "language_memory": "The robot decreased its height, picked up white and yellow bagged toys from hooks, rotated its waist, bent over, and placed the bagged toys into the shopping cart."}, {"start_frame": 2354, "end_frame": 2409, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot has picked up multiple white and yellow bagged toys from hooks and placed them into the shopping cart while adjusting its posture and height."}], "detailed_task_instruction": ["Adjust your posture and decrease your height to reach the hooks. Pick up the white bagged toy, rotate your waist, bend over, and place it into the shopping cart. Repeat this process to pick up and place the second white bagged toy into the cart. After adjusting your posture, decrease your height again to pick up the yellow bagged toy from the hook. Bend over and place the yellow bagged toy into the shopping cart, followed by placing the final white bagged toy into the cart. Once all items are restocked, adjust your robot posture to complete the task."]}
{"task_id": "task_3404", "episode_index": 7, "video_path": "task_3404/videos/chunk-000/{video_key}/episode_000007.mp4", "tasks": ["Restocking the bagged toy."], "length": 2653, "action_config": [{"start_frame": 25, "end_frame": 89, "action_text": "decrease height", "skill": "AdjustPosture", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 89, "end_frame": 278, "action_text": "pick up the pink bagged toy from the hook", "skill": "Pick", "language_memory": "The robot has decreased the height."}, {"start_frame": 278, "end_frame": 486, "action_text": "pick up the white bagged toy from the hook", "skill": "Pick", "language_memory": "The robot decreased its height and picked up the pink bagged toy from the hook."}, {"start_frame": 486, "end_frame": 554, "action_text": "decrease height", "skill": "AdjustPosture", "language_memory": "The robot decreased its height and picked up the pink and white bagged toys from the hook."}, {"start_frame": 554, "end_frame": 768, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot decreased its height, picked up the pink and white bagged toys from the hook, and decreased its height again."}, {"start_frame": 768, "end_frame": 948, "action_text": "place the white bagged toy into the shopping cart", "skill": "Place", "language_memory": "The robot decreased its height, picked up the pink and white bagged toys from the hook, and bent over."}, {"start_frame": 948, "end_frame": 1105, "action_text": "place the pink bagged toy into the shopping cart", "skill": "Place", "language_memory": "The robot decreased its height, picked up the pink and white bagged toys from the hook, and placed the white bagged toy into the shopping cart."}, {"start_frame": 1105, "end_frame": 1155, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot decreased its height, picked up the pink and white bagged toys from the hook, and placed both into the shopping cart."}, {"start_frame": 1155, "end_frame": 1341, "action_text": "decrease height", "skill": "AdjustPosture", "language_memory": "The robot decreased its height, picked up the pink and white bagged toys from the hook, placed both into the shopping cart, and adjusted its posture."}, {"start_frame": 1341, "end_frame": 1577, "action_text": "pick up the white teddy bear toy from the hook", "skill": "Pick", "language_memory": "The robot decreased its height, picked up the pink and white bagged toys from the hook, and placed both into the shopping cart."}, {"start_frame": 1577, "end_frame": 1877, "action_text": "pick up the white bagged toy from the hook", "skill": "Pick", "language_memory": "The robot decreased its height, picked up the pink and white bagged toys from the hook, placed them into the shopping cart, adjusted its posture, and picked up the white teddy bear toy from the hook."}, {"start_frame": 1877, "end_frame": 1936, "action_text": "increase height", "skill": "AdjustPosture", "language_memory": "The robot decreased its height, bent over, and adjusted its posture to pick up multiple bagged toys and a teddy bear from hooks, subsequently placing the bagged toys into the shopping cart."}, {"start_frame": 1936, "end_frame": 2143, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot decreased height, picked up and placed the pink and white bagged toys into the shopping cart, adjusted its posture, and picked up the white teddy bear toy from the hook."}, {"start_frame": 2143, "end_frame": 2327, "action_text": "place the white teddy bear toy into the shopping cart", "skill": "Place", "language_memory": "The robot decreased height, picked up and placed the pink and white bagged toys into the shopping cart, adjusted its posture, and picked up the white teddy bear toy from the hook."}, {"start_frame": 2327, "end_frame": 2475, "action_text": "place the white bagged toy into the shopping cart", "skill": "Place", "language_memory": "The robot decreased height, picked up and placed the pink and white bagged toys and the white teddy bear toy into the shopping cart, and adjusted its posture."}, {"start_frame": 2475, "end_frame": 2527, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot has decreased its height, picked up and placed the pink and white bagged toys along with the white teddy bear toy into the shopping cart, and adjusted its posture."}, {"start_frame": 2527, "end_frame": 2652, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has decreased its height, picked up and placed the pink bagged toy, white bagged toy, and white teddy bear toy into the shopping cart, and adjusted its posture."}], "detailed_task_instruction": ["Adjust your posture and decrease your height to reach the hooks. First, pick up the pink bagged toy and the white bagged toy from the hooks, then place both into the shopping cart. Next, decrease your height again, bend over, and pick up the white teddy bear toy and another white bagged toy from the hooks. After adjusting your robot posture and rotating your waist, increase your height, bend over once more, and place the white teddy bear toy and the second white bagged toy into the shopping cart. Ensure all items are securely placed before completing the restocking process."]}
{"task_id": "task_3404", "episode_index": 8, "video_path": "task_3404/videos/chunk-000/{video_key}/episode_000008.mp4", "tasks": ["Restocking the bagged toy."], "length": 2925, "action_config": [{"start_frame": 35, "end_frame": 95, "action_text": "decrease height", "skill": "AdjustPosture", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 95, "end_frame": 278, "action_text": "pick up the white bagged toy from the hook", "skill": "Pick", "language_memory": "The robot has decreased the height."}, {"start_frame": 278, "end_frame": 632, "action_text": "pick up the white bagged toy from the hook", "skill": "Pick", "language_memory": "The robot decreased its height and picked up the white bagged toy from the hook."}, {"start_frame": 632, "end_frame": 722, "action_text": "decrease height", "skill": "AdjustPosture", "language_memory": "The robot decreased its height and picked up the white bagged toy from the hook."}, {"start_frame": 722, "end_frame": 900, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot decreased its height and picked up the white bagged toy from the hook."}, {"start_frame": 900, "end_frame": 1033, "action_text": "place the white bagged toy into the shopping cart", "skill": "Place", "language_memory": "The robot decreased its height, picked up the white bagged toy from the hook, and bent over."}, {"start_frame": 1033, "end_frame": 1274, "action_text": "place the white bagged toy into the shopping cart", "skill": "Place", "language_memory": "The robot decreased its height, bent over, picked up the white bagged toy from the hook, and placed it into the shopping cart."}, {"start_frame": 1274, "end_frame": 1329, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot decreased its height, bent over, picked up the white bagged toy from the hook, and placed it into the shopping cart."}, {"start_frame": 1329, "end_frame": 1529, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot decreased its height, bent over, picked up the white bagged toy from the hook, and placed it into the shopping cart."}, {"start_frame": 1529, "end_frame": 1672, "action_text": "decrease height", "skill": "AdjustPosture", "language_memory": "The robot decreased its height, bent over, picked up the white bagged toy from the hook, and placed it into the shopping cart."}, {"start_frame": 1672, "end_frame": 1896, "action_text": "pick up the small white rabbit toy from the hook", "skill": "Pick", "language_memory": "The robot picked up the white bagged toy from the hook and placed it into the shopping cart."}, {"start_frame": 1896, "end_frame": 2178, "action_text": "pick up the pink piggy toy from the hook", "skill": "Pick", "language_memory": "The robot decreased its height, bent over, picked up the white bagged toy from the hook, and placed it into the shopping cart, then picked up the small white rabbit toy from the hook."}, {"start_frame": 2178, "end_frame": 2236, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot decreased its height, bent over, and picked up multiple toys including white bagged toys, a small white rabbit toy, and a pink piggy toy from hooks, subsequently placing the white bagged toys into the shopping cart."}, {"start_frame": 2236, "end_frame": 2333, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot decreased its height, bent over, and adjusted its posture to pick up and place two white bagged toys into the shopping cart, then picked up a small white rabbit toy and a pink piggy toy from the hook."}, {"start_frame": 2333, "end_frame": 2410, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot decreased its height, bent over, and picked up multiple white bagged toys and small plush toys from hooks before placing them into the shopping cart and adjusting its posture."}, {"start_frame": 2410, "end_frame": 2615, "action_text": "place the pink pig toy into the shopping cart", "skill": "Place", "language_memory": "The robot decreased its height, picked up and placed two white bagged toys into the shopping cart, and picked up a small white rabbit toy and a pink piggy toy from the hook."}, {"start_frame": 2615, "end_frame": 2743, "action_text": "place the white bunny toy into the shopping cart", "skill": "Place", "language_memory": "The robot decreased its height, picked up and placed two white bagged toys and a pink piggy toy into the shopping cart, and adjusted its posture and waist rotation during the process."}, {"start_frame": 2743, "end_frame": 2792, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot decreased its height, picked up and placed two white bagged toys, a small white rabbit toy, and a pink piggy toy into the shopping cart, and adjusted its posture and waist rotation throughout the process."}, {"start_frame": 2792, "end_frame": 2924, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot decreased its height, picked up and placed two white bagged toys, a small white rabbit toy, and a pink piggy toy into the shopping cart, and adjusted its posture multiple times."}], "detailed_task_instruction": ["Adjust your posture and decrease your height to reach the hooks. Pick up the white bagged toy from the hook and place it into the shopping cart. Repeat this process for the second white bagged toy. Next, adjust your posture, rotate your waist, and bend over to decrease your height. Pick up the small white rabbit toy and the pink piggy toy from the hooks, then place both into the shopping cart. Finally, adjust your robot posture to complete the restocking of the bagged toys and small animal figures."]}
{"task_id": "task_3404", "episode_index": 9, "video_path": "task_3404/videos/chunk-000/{video_key}/episode_000009.mp4", "tasks": ["Restocking the bagged toy."], "length": 2743, "action_config": [{"start_frame": 30, "end_frame": 147, "action_text": "decrease height", "skill": "AdjustPosture", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 147, "end_frame": 367, "action_text": "pick up the yellow teddy bear toy from the hook", "skill": "Pick", "language_memory": "The robot has decreased the height."}, {"start_frame": 367, "end_frame": 622, "action_text": "pick up the yellow bagged toy from the hook", "skill": "Pick", "language_memory": "The robot decreased its height and picked up the yellow teddy bear toy from the hook."}, {"start_frame": 622, "end_frame": 702, "action_text": "decrease height", "skill": "AdjustPosture", "language_memory": "The robot decreased its height and picked up the yellow teddy bear toy and the yellow bagged toy from the hook."}, {"start_frame": 702, "end_frame": 871, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot decreased its height, picked up the yellow teddy bear toy and the yellow bagged toy from the hook, and then decreased its height again."}, {"start_frame": 871, "end_frame": 1029, "action_text": "place the yellow teddy bear toy into the shopping cart", "skill": "Place", "language_memory": "The robot decreased its height, picked up the yellow teddy bear toy and the yellow bagged toy from the hook, and bent over."}, {"start_frame": 1029, "end_frame": 1177, "action_text": "place the yellow bagged toy into the shopping cart", "skill": "Place", "language_memory": "The robot decreased its height, picked up the yellow teddy bear and yellow bagged toy from the hook, and placed the yellow teddy bear into the shopping cart."}, {"start_frame": 1177, "end_frame": 1226, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot decreased its height, bent over, picked up the yellow teddy bear toy and the yellow bagged toy from the hook, and placed both items into the shopping cart."}, {"start_frame": 1226, "end_frame": 1389, "action_text": "increase height", "skill": "AdjustPosture", "language_memory": "The robot decreased its height, bent over, picked up the yellow teddy bear toy and the yellow bagged toy from the hook, and placed both items into the shopping cart before adjusting its posture."}, {"start_frame": 1389, "end_frame": 1439, "action_text": "decrease height", "skill": "AdjustPosture", "language_memory": "The robot decreased its height, picked up the yellow teddy bear and yellow bagged toy from the hook, placed both items into the shopping cart, and adjusted its posture."}, {"start_frame": 1439, "end_frame": 1724, "action_text": "pick up the white bagged toy from the hook", "skill": "Pick", "language_memory": "The robot decreased its height, picked up the yellow teddy bear toy and the yellow bagged toy from the hook, placed both items into the shopping cart, and adjusted its posture."}, {"start_frame": 1724, "end_frame": 1936, "action_text": "place the orange bagged toy into the shopping cart", "skill": "Place", "language_memory": "The robot decreased its height, picked up the yellow teddy bear and yellow bagged toys from the hook, placed both into the shopping cart, adjusted its posture, and picked up the white bagged toy from the hook."}, {"start_frame": 1936, "end_frame": 2013, "action_text": "decrease height", "skill": "AdjustPosture", "language_memory": "The robot decreased its height, picked up the yellow teddy bear and yellow bagged toy from the hook, placed both into the shopping cart, adjusted its posture, increased and then decreased its height, picked up the white bagged toy from the hook, and placed the orange bagged toy into the shopping cart."}, {"start_frame": 2013, "end_frame": 2121, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot decreased its height, picked up the yellow teddy bear and yellow bagged toy from the hook, placed both into the shopping cart, adjusted its posture, increased and then decreased its height again, picked up the white bagged toy from the hook, and placed the orange bagged toy into the shopping cart."}, {"start_frame": 2121, "end_frame": 2180, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot decreased its height, picked up the yellow teddy bear and yellow bagged toy from the hook, placed them into the shopping cart, picked up the white bagged toy from the hook, and placed the orange bagged toy into the shopping cart."}, {"start_frame": 2180, "end_frame": 2388, "action_text": "place the orange bagged toy into the shopping cart", "skill": "Place", "language_memory": "The robot decreased height, picked up the yellow teddy bear and yellow bagged toy from the hook, placed them into the shopping cart, adjusted its posture, increased and decreased height, picked up the white bagged toy from the hook, placed the orange bagged toy into the shopping cart, and rotated its waist."}, {"start_frame": 2388, "end_frame": 2546, "action_text": "place the white bagged toy into the shopping cart", "skill": "Place", "language_memory": "The robot decreased height, picked up the yellow teddy bear and yellow bagged toy from the hook, placed them into the shopping cart, adjusted posture, increased and decreased height, picked up the white bagged toy from the hook, placed the orange bagged toy into the shopping cart twice, and rotated the waist."}, {"start_frame": 2546, "end_frame": 2580, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot decreased height, picked up the yellow teddy bear and yellow bagged toy from the hook, placed them into the shopping cart, adjusted posture, increased and decreased height, picked up the white bagged toy from the hook, placed the orange bagged toy into the shopping cart twice, decreased height, rotated the waist, bent over, and placed the white bagged toy into the shopping cart."}, {"start_frame": 2580, "end_frame": 2655, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot decreased height, picked up the yellow teddy bear and yellow bagged toy from the hook, placed them into the shopping cart, adjusted its posture, increased and decreased height, picked up the white bagged toy from the hook, placed the orange bagged toy into the shopping cart twice, decreased height, rotated the waist, bent over, and adjusted its posture."}, {"start_frame": 2655, "end_frame": 2742, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot has decreased and increased its height, bent over, rotated its waist, and adjusted its posture multiple times while picking up and placing the yellow teddy bear, yellow bagged toy, orange bagged toy, and white bagged toy into the shopping cart."}], "detailed_task_instruction": ["Adjust your height and bend over to pick up the yellow teddy bear toy and the yellow bagged toy from the hook, then place both items into the shopping cart. Next, lower your height, rotate your waist, and bend over again to retrieve the white bagged toy from the hook. Finally, place the orange bagged toy and the white bagged toy into the shopping cart, adjusting your posture and rotating your waist as needed to complete the restocking of the bagged toys."]}
{"task_id": "task_3404", "episode_index": 10, "video_path": "task_3404/videos/chunk-000/{video_key}/episode_000010.mp4", "tasks": ["Restocking the bagged toy."], "length": 2815, "action_config": [{"start_frame": 41, "end_frame": 174, "action_text": "decrease height", "skill": "AdjustPosture", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 174, "end_frame": 516, "action_text": "pick up the white teddy bear toy from the hook", "skill": "Pick", "language_memory": "The robot has decreased the height."}, {"start_frame": 516, "end_frame": 706, "action_text": "pick up the yellow teddy bear toy from the hook", "skill": "Pick", "language_memory": "The robot decreased its height and picked up the white teddy bear toy from the hook."}, {"start_frame": 706, "end_frame": 782, "action_text": "increase height", "skill": "AdjustPosture", "language_memory": "The robot decreased its height and picked up the white and yellow teddy bear toys from the hook."}, {"start_frame": 782, "end_frame": 944, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot decreased its height, picked up the white and yellow teddy bear toys from the hook, and increased its height."}, {"start_frame": 944, "end_frame": 1116, "action_text": "place the yellow teddy bear toy into the shopping cart", "skill": "Place", "language_memory": "The robot decreased its height, picked up the white and yellow teddy bear toys from the hook, increased its height, and bent over."}, {"start_frame": 1116, "end_frame": 1238, "action_text": "place the white teddy bear toy into the shopping cart", "skill": "Place", "language_memory": "The robot decreased its height, picked up the white and yellow teddy bear toys from the hook, increased its height, bent over, and placed the yellow teddy bear toy into the shopping cart."}, {"start_frame": 1238, "end_frame": 1273, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot decreased height, picked up the white and yellow teddy bear toys from the hook, increased height, bent over, and placed both teddy bear toys into the shopping cart."}, {"start_frame": 1273, "end_frame": 1589, "action_text": "decrease height", "skill": "AdjustPosture", "language_memory": "The robot decreased its height, picked up the white and yellow teddy bear toys from the hook, increased its height, bent over, placed both teddy bear toys into the shopping cart, and adjusted its posture."}, {"start_frame": 1589, "end_frame": 1802, "action_text": "pick up the small white rabbit toy from the hook", "skill": "Pick", "language_memory": "The robot decreased its height, picked up the white and yellow teddy bear toys from the hook, increased its height, bent over, placed both teddy bear toys into the shopping cart, adjusted its posture, and decreased its height."}, {"start_frame": 1802, "end_frame": 2114, "action_text": "pick up the brown teddy bear toy from the hook", "skill": "Pick", "language_memory": "The robot decreased height, picked up the white and yellow teddy bear toys from the hook, increased height, bent over, placed both teddy bear toys into the shopping cart, adjusted its posture, decreased height again, and picked up the small white rabbit toy from the hook."}, {"start_frame": 2114, "end_frame": 2191, "action_text": "increase height", "skill": "AdjustPosture", "language_memory": "The robot decreased height, picked up the white teddy bear, yellow teddy bear, small white rabbit, and brown teddy bear toys from the hook, increased height, bent over, placed the yellow and white teddy bear toys into the shopping cart, adjusted its posture, and decreased height again."}, {"start_frame": 2191, "end_frame": 2383, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot decreased and increased its height, bent over, and adjusted its posture to pick up the white teddy bear, yellow teddy bear, small white rabbit, and brown teddy bear toys from the hook, placing the yellow and white teddy bear toys into the shopping cart."}, {"start_frame": 2383, "end_frame": 2551, "action_text": "place the brown teddy bear toy into the shopping cart", "skill": "Place", "language_memory": "The robot decreased height, picked up the white teddy bear, yellow teddy bear, small white rabbit, and brown teddy bear toys from the hook, increased height, placed the yellow and white teddy bear toys into the shopping cart, adjusted its posture, and bent over."}, {"start_frame": 2551, "end_frame": 2663, "action_text": "place the white bunny toy into the shopping cart", "skill": "Place", "language_memory": "The robot decreased and increased its height multiple times, bent over, adjusted its posture, and picked up the white teddy bear, yellow teddy bear, small white rabbit, and brown teddy bear toys from the hook before placing the yellow teddy bear, white teddy bear, and brown teddy bear toys into the shopping cart."}, {"start_frame": 2663, "end_frame": 2705, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot decreased and increased its height multiple times, bent over, adjusted its posture, and successfully picked up and placed the white teddy bear, yellow teddy bear, small white rabbit toy, and brown teddy bear toy into the shopping cart."}], "detailed_task_instruction": ["Restock the bagged toy by first adjusting your posture to a lower height, then picking up the white teddy bear and yellow teddy bear from the hook. Increase your height, bend over, and place both teddy bears into the shopping cart. Adjust your posture, decrease your height, and pick up the small white rabbit and brown teddy bear from the hook. Finally, increase your height, bend over, and place the brown teddy bear and white rabbit into the shopping cart to complete the restocking process."]}
{"task_id": "task_3404", "episode_index": 11, "video_path": "task_3404/videos/chunk-000/{video_key}/episode_000011.mp4", "tasks": ["Restocking the bagged toy."], "length": 2508, "action_config": [{"start_frame": 21, "end_frame": 118, "action_text": "decrease height", "skill": "AdjustPosture", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 118, "end_frame": 280, "action_text": "pick up the white bagged toy from the hook", "skill": "Pick", "language_memory": "The robot has decreased the height."}, {"start_frame": 280, "end_frame": 464, "action_text": "pick up the white bagged toy from the hook", "skill": "Pick", "language_memory": "The robot decreased its height and picked up the white bagged toy from the hook."}, {"start_frame": 464, "end_frame": 568, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot decreased its height and picked up the white bagged toy from the hook."}, {"start_frame": 568, "end_frame": 686, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot decreased its height, picked up the white bagged toy from the hook, and adjusted its posture."}, {"start_frame": 686, "end_frame": 768, "action_text": "bend your waist downward while rotating it", "skill": "AdjustPosture", "language_memory": "The robot decreased its height, picked up the white bagged toy from the hook, adjusted its posture, and rotated its waist."}, {"start_frame": 768, "end_frame": 976, "action_text": "place the white bagged toy into the shopping cart", "skill": "Place", "language_memory": "The robot decreased its height, picked up the white bagged toy from the hook, adjusted its posture, rotated its waist, and bent downward while rotating."}, {"start_frame": 976, "end_frame": 1133, "action_text": "place the white bagged toy into the shopping cart", "skill": "Place", "language_memory": "The robot decreased its height, picked up the white bagged toy from the hook, adjusted its posture, rotated its waist, bent downward, and placed the white bagged toy into the shopping cart."}, {"start_frame": 1133, "end_frame": 1180, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot decreased its height, picked up the white bagged toy from the hook, adjusted its posture, rotated its waist, bent downward, and placed the white bagged toy into the shopping cart."}, {"start_frame": 1180, "end_frame": 1384, "action_text": "increase height", "skill": "AdjustPosture", "language_memory": "The robot picked up the white bagged toy from the hook and placed it into the shopping cart."}, {"start_frame": 1384, "end_frame": 1548, "action_text": "pick up the white bagged toy from the hook", "skill": "Pick", "language_memory": "The robot picked up the white bagged toy from the hook and placed it into the shopping cart."}, {"start_frame": 1548, "end_frame": 1758, "action_text": "pick up the white teddy bear toy from the hook", "skill": "Pick", "language_memory": "The robot decreased its height, picked up the white bagged toy from the hook, adjusted its posture, rotated its waist, bent downward, and placed the white bagged toy into the shopping cart."}, {"start_frame": 1758, "end_frame": 1824, "action_text": "decrease height", "skill": "AdjustPosture", "language_memory": "The robot decreased its height, picked up two white bagged toys and one white teddy bear toy from the hook, adjusted its posture and waist orientation, and placed the two white bagged toys into the shopping cart."}, {"start_frame": 1824, "end_frame": 1910, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot decreased its height, picked up two white bagged toys and one white teddy bear toy from the hook, adjusted its posture and waist rotation, and placed the white bagged toys into the shopping cart."}, {"start_frame": 1910, "end_frame": 1998, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot decreased its height, picked up two white bagged toys and one white teddy bear toy from the hook, adjusted its posture, rotated its waist, bent downward, and placed the white bagged toys into the shopping cart."}, {"start_frame": 1998, "end_frame": 2213, "action_text": "place the white teddy bear toy into the shopping cart", "skill": "Place", "language_memory": "The robot decreased its height, picked up two white bagged toys and one white teddy bear toy from the hook, adjusted its posture, rotated its waist, bent downward, and placed the white bagged toys into the shopping cart."}, {"start_frame": 2213, "end_frame": 2357, "action_text": "place the white bagged toy into the shopping cart", "skill": "Place", "language_memory": "The robot decreased its height, picked up two white bagged toys and one white teddy bear toy from hooks, adjusted its posture and rotated its waist, and placed all three items into the shopping cart."}, {"start_frame": 2357, "end_frame": 2406, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot adjusted its posture and height, rotated its waist, and successfully placed multiple white bagged toys and a white teddy bear toy into the shopping cart."}, {"start_frame": 2406, "end_frame": 2507, "action_text": "increase height", "skill": "AdjustPosture", "language_memory": "The robot adjusted its posture and height, rotated its waist, and successfully placed the white bagged toy and the white teddy bear toy into the shopping cart."}], "detailed_task_instruction": ["Adjust your height and posture, then rotate your waist and bend downward to pick up a white bagged toy from a hook and place it into the shopping cart. Repeat this process to pick up a second white bagged toy from the hook and place it in the cart. Finally, adjust your posture, increase your height, rotate your waist, and bend over to pick up a white teddy bear toy from the hook, placing it into the shopping cart before returning to a standing position."]}
{"task_id": "task_3404", "episode_index": 12, "video_path": "task_3404/videos/chunk-000/{video_key}/episode_000012.mp4", "tasks": ["Restocking the bagged toy."], "length": 3610, "action_config": [{"start_frame": 31, "end_frame": 95, "action_text": "decrease height", "skill": "AdjustPosture", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 95, "end_frame": 251, "action_text": "pick up the white bagged toy from the hook", "skill": "Pick", "language_memory": "The robot has decreased the height."}, {"start_frame": 251, "end_frame": 436, "action_text": "pick up the white bagged toy from the hook", "skill": "Pick", "language_memory": "The robot decreased its height and picked up the white bagged toy from the hook."}, {"start_frame": 436, "end_frame": 483, "action_text": "increase height", "skill": "AdjustPosture", "language_memory": "The robot decreased its height and picked up the white bagged toy from the hook."}, {"start_frame": 483, "end_frame": 637, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot decreased its height, picked up the white bagged toy from the hook, and increased its height."}, {"start_frame": 637, "end_frame": 831, "action_text": "place the white bagged toy into the shopping cart", "skill": "Place", "language_memory": "The robot decreased its height, picked up the white bagged toy from the hook, and increased its height."}, {"start_frame": 831, "end_frame": 947, "action_text": "place the white bagged toy into the shopping cart", "skill": "Place", "language_memory": "The robot decreased its height, picked up the white bagged toy from the hook, increased its height, bent over, and placed the white bagged toy into the shopping cart."}, {"start_frame": 947, "end_frame": 995, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot decreased its height, picked up the white bagged toy from the hook, increased its height, bent over, and placed the white bagged toy into the shopping cart."}, {"start_frame": 995, "end_frame": 1165, "action_text": "increase height", "skill": "AdjustPosture", "language_memory": "The robot decreased its height, picked up the white bagged toy from the hook, increased its height, bent over, and placed the white bagged toy into the shopping cart before adjusting its posture."}, {"start_frame": 1165, "end_frame": 1358, "action_text": "pick up the white bagged toy from the hook", "skill": "Pick", "language_memory": "The robot decreased its height, picked up the white bagged toy from the hook, increased its height, bent over, and placed the white bagged toy into the shopping cart."}, {"start_frame": 1358, "end_frame": 1556, "action_text": "pick up the yellow teddy bear toy from the hook", "skill": "Pick", "language_memory": "The robot decreased and increased its height, bent over, adjusted its posture, and successfully picked up and placed multiple white bagged toys from the hook into the shopping cart."}, {"start_frame": 1556, "end_frame": 1612, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot decreased and increased its height, bent over, adjusted its posture, picked up two white bagged toys and one yellow teddy bear toy from the hook, and placed the white bagged toys into the shopping cart."}, {"start_frame": 1612, "end_frame": 1787, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot decreased and increased its height, bent over, adjusted its posture, and picked up white bagged toys and a yellow teddy bear toy from the hook, placing the white bagged toys into the shopping cart."}, {"start_frame": 1787, "end_frame": 2013, "action_text": "place the yellow teddy bear toy into the shopping cart", "skill": "Place", "language_memory": "The robot decreased and increased its height, bent over, adjusted its posture, picked up two white bagged toys and one yellow teddy bear toy from the hook, and placed the white bagged toys into the shopping cart."}, {"start_frame": 2013, "end_frame": 2178, "action_text": "place the white bagged toy into the shopping cart", "skill": "Place", "language_memory": "The robot decreased and increased its height, bent over, adjusted its posture, picked up white bagged toys and a yellow teddy bear toy from hooks, and placed them into the shopping cart."}, {"start_frame": 2178, "end_frame": 2218, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot decreased and increased its height, bent over, and adjusted its posture to pick up white bagged toys and a yellow teddy bear toy from hooks, then placed all items into the shopping cart."}, {"start_frame": 2218, "end_frame": 2400, "action_text": "decrease height", "skill": "AdjustPosture", "language_memory": "The robot adjusted its posture, decreased and increased height, bent over, and successfully picked up and placed multiple white bagged toys and a yellow teddy bear toy into the shopping cart."}, {"start_frame": 2400, "end_frame": 2633, "action_text": "pick up the white bagged toy from the hook", "skill": "Pick", "language_memory": "The robot adjusted its posture and height, picked up white bagged toys and a yellow teddy bear toy from the hook, and placed them into the shopping cart."}, {"start_frame": 2633, "end_frame": 2844, "action_text": "pick up the orange bagged toy from the hook", "skill": "Pick", "language_memory": "The robot has adjusted its posture and height multiple times, picked up white bagged toys and a yellow teddy bear toy from hooks, and placed them into the shopping cart."}, {"start_frame": 2844, "end_frame": 2924, "action_text": "decrease height", "skill": "AdjustPosture", "language_memory": "The robot decreased and increased its height, bent over, and adjusted its posture multiple times to pick up white bagged toys, a yellow teddy bear toy, and an orange bagged toy from hooks, and placed them into the shopping cart."}, {"start_frame": 2924, "end_frame": 3005, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot adjusted its posture and height, picked up multiple white bagged toys, a yellow teddy bear toy, and an orange bagged toy from the hook, and placed them into the shopping cart."}, {"start_frame": 3005, "end_frame": 3072, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot successfully picked up multiple white bagged toys, a yellow teddy bear toy, and an orange bagged toy from hooks and placed them into the shopping cart, while adjusting its posture and height throughout the process."}, {"start_frame": 3072, "end_frame": 3296, "action_text": "place the orange bagged toy into the shopping cart", "skill": "Place", "language_memory": "The robot has adjusted its posture multiple times, decreased and increased its height, and successfully placed the white bagged toy, yellow teddy bear toy, and orange bagged toy into the shopping cart."}, {"start_frame": 3296, "end_frame": 3458, "action_text": "place the white bagged toy into the shopping cart", "skill": "Place", "language_memory": "The robot adjusted its posture and height, picked up multiple white bagged toys, a yellow teddy bear toy, and an orange bagged toy from hooks, and placed all of them into the shopping cart."}, {"start_frame": 3458, "end_frame": 3493, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot has adjusted its posture multiple times, decreased and increased its height, and successfully placed white bagged toys, a yellow teddy bear toy, and an orange bagged toy into the shopping cart."}, {"start_frame": 3493, "end_frame": 3609, "action_text": "increase height", "skill": "AdjustPosture", "language_memory": "The robot adjusted its posture and height, picked up multiple white bagged toys, a yellow teddy bear toy, and an orange bagged toy from hooks, and placed all of them into the shopping cart."}], "detailed_task_instruction": ["Adjust your height and posture as needed to reach the hooks. First, pick up the white bagged toy, then the yellow teddy bear toy, and finally the orange bagged toy from the hooks, placing each one into the shopping cart. You may need to bend over, rotate your waist, or change your height multiple times to access the items and load them correctly. Ensure all three toys—the white bagged toy, the yellow teddy bear, and the orange bagged toy—are successfully transferred from the hooks into the shopping cart before concluding the restocking process."]}
{"task_id": "task_3404", "episode_index": 13, "video_path": "task_3404/videos/chunk-000/{video_key}/episode_000013.mp4", "tasks": ["Restocking the bagged toy."], "length": 3756, "action_config": [{"start_frame": 42, "end_frame": 136, "action_text": "decrease height", "skill": "AdjustPosture", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 136, "end_frame": 319, "action_text": "pick up the yellow teddy bear toy from the hook", "skill": "Pick", "language_memory": "The robot has decreased the height."}, {"start_frame": 319, "end_frame": 556, "action_text": "pick up the white bagged toy from the hook", "skill": "Pick", "language_memory": "The robot decreased its height and picked up the yellow teddy bear toy from the hook."}, {"start_frame": 556, "end_frame": 656, "action_text": "decrease height", "skill": "AdjustPosture", "language_memory": "The robot decreased its height, picked up the yellow teddy bear toy from the hook, and picked up the white bagged toy from the hook."}, {"start_frame": 656, "end_frame": 732, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot decreased its height, picked up the yellow teddy bear toy and the white bagged toy from the hook, and decreased its height again."}, {"start_frame": 732, "end_frame": 807, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot decreased its height, picked up the yellow teddy bear and white bagged toy from the hook, and rotated its waist."}, {"start_frame": 807, "end_frame": 1005, "action_text": "place the yellow teddy bear toy into the shopping cart", "skill": "Place", "language_memory": "The robot decreased its height, picked up the yellow teddy bear and white bagged toy from the hook, rotated its waist, and bent over."}, {"start_frame": 1005, "end_frame": 1123, "action_text": "place the white bagged toy into the shopping cart", "skill": "Place", "language_memory": "The robot decreased its height, picked up the yellow teddy bear and white bagged toy from the hook, rotated its waist, bent over, and placed the yellow teddy bear into the shopping cart."}, {"start_frame": 1123, "end_frame": 1168, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot decreased its height, rotated its waist, and bent over to pick up a yellow teddy bear toy and a white bagged toy from hooks, subsequently placing both items into the shopping cart."}, {"start_frame": 1168, "end_frame": 1411, "action_text": "decrease height", "skill": "AdjustPosture", "language_memory": "The robot decreased its height, picked up the yellow teddy bear and white bagged toys from the hook, rotated its waist, bent over, placed both toys into the shopping cart, and adjusted its posture."}, {"start_frame": 1411, "end_frame": 1615, "action_text": "pick up the white teddy bear toy from the hook", "skill": "Pick", "language_memory": "The robot decreased its height, picked up the yellow teddy bear and white bagged toys from the hook, rotated its waist, bent over, placed both toys into the shopping cart, and adjusted its posture."}, {"start_frame": 1615, "end_frame": 1784, "action_text": "pick up the white bagged toy from the hook", "skill": "Pick", "language_memory": "The robot decreased its height, picked up the yellow and white teddy bear toys along with the white bagged toy from the hook, rotated its waist, bent over, and placed the yellow teddy bear toy and the white bagged toy into the shopping cart before adjusting its posture and picking up the white teddy bear toy."}, {"start_frame": 1784, "end_frame": 1852, "action_text": "increase height", "skill": "AdjustPosture", "language_memory": "The robot decreased its height, rotated its waist, and bent over to pick up the yellow teddy bear, the first white bagged toy, and the white teddy bear from the hooks, then placed the yellow teddy bear and the first white bagged toy into the shopping cart before adjusting its posture and picking up the white teddy bear and the second white bagged toy."}, {"start_frame": 1852, "end_frame": 2041, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot decreased its height, picked up the yellow and white teddy bear toys along with the white bagged toy from the hook, rotated its waist, bent over, and placed the yellow teddy bear toy and the white bagged toy into the shopping cart before adjusting its posture and picking up the white teddy bear toy and another white bagged toy."}, {"start_frame": 2041, "end_frame": 2277, "action_text": "place the white bagged toy into the shopping cart", "skill": "Place", "language_memory": "The robot decreased height, picked up the yellow teddy bear and white bagged toys from the hook, placed them into the shopping cart, rotated the waist, bent over, adjusted posture, picked up the white teddy bear and white bagged toys from the hook, and increased height."}, {"start_frame": 2277, "end_frame": 2393, "action_text": "place the white teddy bear toy into the shopping cart", "skill": "Place", "language_memory": "The robot decreased height, picked up the yellow teddy bear and two white bagged toys from hooks, rotated its waist, bent over, and placed all three items into the shopping cart while adjusting its posture."}, {"start_frame": 2393, "end_frame": 2437, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot decreased height, picked up the yellow teddy bear and two white bagged toys from hooks, rotated its waist, bent over, and placed all three items into the shopping cart before adjusting its posture."}, {"start_frame": 2437, "end_frame": 2625, "action_text": "decrease height", "skill": "AdjustPosture", "language_memory": "The robot has decreased its height, picked up the yellow teddy bear and two white bagged toys from hooks, rotated its waist, bent over, and placed all three items into the shopping cart before adjusting its posture."}, {"start_frame": 2625, "end_frame": 2785, "action_text": "pick up the yellow bagged toy from the hook", "skill": "Pick", "language_memory": "The robot decreased height, picked up the yellow teddy bear and two white bagged toys from hooks, rotated its waist, bent over, and placed all three items into the shopping cart while adjusting its posture."}, {"start_frame": 2785, "end_frame": 3023, "action_text": "pick up the white bagged toy from the hook", "skill": "Pick", "language_memory": "The robot has decreased its height, picked up the yellow and white teddy bear toys along with two white bagged toys from the hooks, adjusted its posture, and placed all four items into the shopping cart before picking up the yellow bagged toy."}, {"start_frame": 3023, "end_frame": 3083, "action_text": "decrease height", "skill": "AdjustPosture", "language_memory": "The robot has decreased height, picked up and placed the yellow teddy bear, white teddy bear, and multiple white bagged toys into the shopping cart, rotated its waist, bent over, and adjusted its posture."}, {"start_frame": 3083, "end_frame": 3260, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot has decreased its height, picked up and placed the yellow teddy bear, white teddy bear, and multiple white bagged toys into the shopping cart, and adjusted its posture throughout the process."}, {"start_frame": 3260, "end_frame": 3467, "action_text": "place the white bagged toy into the shopping cart", "skill": "Place", "language_memory": "The robot has decreased its height, picked up and placed the yellow teddy bear, white teddy bear, and multiple white bagged toys into the shopping cart, adjusted its posture, rotated its waist, and bent over."}, {"start_frame": 3467, "end_frame": 3594, "action_text": "place the yellow bagged toy into the shopping cart", "skill": "Place", "language_memory": "The robot has decreased height, rotated its waist, and bent over to pick up and place multiple yellow and white teddy bear toys and bagged toys from hooks into the shopping cart, while adjusting its posture and varying its height throughout the process."}, {"start_frame": 3594, "end_frame": 3635, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot has decreased height, rotated its waist, and bent over to pick up and place multiple yellow and white teddy bear toys and bagged toys from hooks into the shopping cart, while adjusting its posture and changing height as needed."}, {"start_frame": 3635, "end_frame": 3755, "action_text": "increase height", "skill": "AdjustPosture", "language_memory": "The robot has decreased its height, picked up and placed multiple yellow and white teddy bear toys and bagged toys into the shopping cart, rotated its waist, bent over, and adjusted its posture."}], "detailed_task_instruction": ["Restock the shopping cart by first adjusting your height and posture to reach the yellow teddy bear and white bagged toy on the hook, then placing both items into the cart. Next, lower your height, rotate your waist, and bend over to retrieve the white teddy bear and another white bagged toy from the hook, followed by placing them into the cart. Finally, adjust your posture, lower your height, and bend over to pick up the yellow bagged toy and the remaining white bagged toy from the hook, placing both into the shopping cart before returning to a standing position."]}
{"task_id": "task_3404", "episode_index": 14, "video_path": "task_3404/videos/chunk-000/{video_key}/episode_000014.mp4", "tasks": ["Restocking the bagged toy."], "length": 4068, "action_config": [{"start_frame": 35, "end_frame": 133, "action_text": "decrease height", "skill": "AdjustPosture", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 133, "end_frame": 468, "action_text": "pick up the yellow bagged toy from the hook", "skill": "Pick", "language_memory": "The robot has decreased the height."}, {"start_frame": 468, "end_frame": 683, "action_text": "clamp", "skill": "Clamp", "language_memory": "The robot decreased its height and picked up the yellow bagged toy from the hook."}, {"start_frame": 683, "end_frame": 943, "action_text": "pick up the yellow teddy bear toy from the hook", "skill": "Pick", "language_memory": "The robot decreased its height, picked up the yellow bagged toy from the hook, and clamped."}, {"start_frame": 943, "end_frame": 1022, "action_text": "decrease height", "skill": "AdjustPosture", "language_memory": "The robot decreased height, clamped, and picked up the yellow bagged toy and the yellow teddy bear toy from the hook."}, {"start_frame": 1022, "end_frame": 1127, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot decreased its height, picked up the yellow bagged toy and the yellow teddy bear toy from the hook, and clamped."}, {"start_frame": 1127, "end_frame": 1187, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot decreased its height, clamped, picked up the yellow bagged toy and the yellow teddy bear toy from the hook, and rotated its waist."}, {"start_frame": 1187, "end_frame": 1375, "action_text": "place the yellow bagged toy into the shopping cart", "skill": "Place", "language_memory": "The robot decreased its height, clamped, picked up the yellow bagged toy and the yellow teddy bear toy from the hook, rotated its waist, and bent over."}, {"start_frame": 1375, "end_frame": 1492, "action_text": "place the yellow teddy bear toy into the shopping cart", "skill": "Place", "language_memory": "The robot decreased its height, picked up the yellow bagged toy and the yellow teddy bear toy from the hook, clamped, rotated its waist, bent over, and placed the yellow bagged toy into the shopping cart."}, {"start_frame": 1492, "end_frame": 1542, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot decreased its height, clamped, rotated its waist, and bent over to pick up a yellow bagged toy and a yellow teddy bear toy from hooks, subsequently placing both items into the shopping cart."}, {"start_frame": 1542, "end_frame": 1630, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot decreased its height, picked up the yellow bagged toy and the yellow teddy bear toy from the hook, clamped, rotated its waist, bent over, placed both toys into the shopping cart, and adjusted its posture."}, {"start_frame": 1630, "end_frame": 1716, "action_text": "decrease height", "skill": "AdjustPosture", "language_memory": "The robot decreased its height, picked up the yellow bagged toy and the yellow teddy bear toy from the hook, clamped, rotated its waist, bent over, placed both toys into the shopping cart, and adjusted its posture."}, {"start_frame": 1716, "end_frame": 1909, "action_text": "pick up the small white rabbit toy from the hook", "skill": "Pick", "language_memory": "The robot decreased its height, picked up the yellow bagged toy and the yellow teddy bear toy from the hook, clamped, rotated its waist, bent over, placed both toys into the shopping cart, and adjusted its posture."}, {"start_frame": 1909, "end_frame": 2196, "action_text": "pick up the brown teddy bear toy from the hook", "skill": "Pick", "language_memory": "The robot decreased its height, picked up the yellow bagged toy and the yellow teddy bear toy from the hook, clamped, rotated its waist, bent over, placed both toys into the shopping cart, adjusted its posture, and picked up the small white rabbit toy from the hook."}, {"start_frame": 2196, "end_frame": 2242, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot decreased its height, rotated its waist, and bent over to pick up the yellow bagged toy, the yellow teddy bear toy, the small white rabbit toy, and the brown teddy bear toy from the hooks, then placed the yellow bagged toy and the yellow teddy bear toy into the shopping cart while adjusting its posture."}, {"start_frame": 2242, "end_frame": 2312, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot decreased its height, rotated its waist, and bent over to pick up the yellow bagged toy, yellow teddy bear toy, small white rabbit toy, and brown teddy bear toy from the hooks, then placed all four toys into the shopping cart while adjusting its posture."}, {"start_frame": 2312, "end_frame": 2394, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot decreased its height, rotated its waist, and adjusted its posture to pick up the yellow bagged toy, yellow teddy bear, small white rabbit, and brown teddy bear from hooks, then placed all four toys into the shopping cart."}, {"start_frame": 2394, "end_frame": 2557, "action_text": "place the brown teddy bear toy into the shopping cart", "skill": "Place", "language_memory": "The robot decreased its height, rotated its waist, and bent over to pick up the yellow bagged toy, yellow teddy bear, small white rabbit, and brown teddy bear from the hook, then placed all four toys into the shopping cart before adjusting its posture."}, {"start_frame": 2557, "end_frame": 2652, "action_text": "place the white bunny toy into the shopping cart", "skill": "Place", "language_memory": "The robot decreased height, picked up the yellow bagged toy and two teddy bear toys (yellow and brown) from hooks, placed them into the shopping cart, and adjusted its posture and waist rotation."}, {"start_frame": 2652, "end_frame": 2707, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot has decreased its height, rotated its waist, and bent over to pick up the yellow bagged toy, yellow teddy bear, small white rabbit, and brown teddy bear from hooks, subsequently placing all four toys into the shopping cart while adjusting its posture."}, {"start_frame": 2707, "end_frame": 2895, "action_text": "decrease height", "skill": "AdjustPosture", "language_memory": "The robot has decreased its height, rotated its waist, and bent over to pick up the yellow bagged toy, yellow teddy bear, small white rabbit, and brown teddy bear from hooks, subsequently placing all four toys into the shopping cart while adjusting its posture throughout the process."}, {"start_frame": 2895, "end_frame": 3157, "action_text": "pick up the small white rabbit toy from the hook", "skill": "Pick", "language_memory": "The robot has decreased its height, picked up the yellow bagged toy, yellow teddy bear, small white rabbit toy, and brown teddy bear toy from the hooks, and placed all of them into the shopping cart."}, {"start_frame": 3157, "end_frame": 3419, "action_text": "pick up the pink pig toy from the hook", "skill": "Pick", "language_memory": "The robot has successfully restocked the shopping cart with a yellow bagged toy, a yellow teddy bear, a brown teddy bear, and a small white rabbit toy by picking them from hooks and placing them into the cart."}, {"start_frame": 3419, "end_frame": 3479, "action_text": "pick up the object", "skill": "Pick", "language_memory": "The robot has decreased its height, rotated its waist, and bent over to pick up multiple toys from hooks, including yellow and brown teddy bears, a white rabbit, and a pink pig, subsequently placing the brown teddy bear, white rabbit, and yellow bagged toy into the shopping cart while adjusting its posture throughout the process."}, {"start_frame": 3479, "end_frame": 3636, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot has successfully restocked the shopping cart by picking up and placing multiple toys, including yellow and brown teddy bears, a white rabbit, and a pink pig, while adjusting its posture and orientation throughout the process."}, {"start_frame": 3636, "end_frame": 3778, "action_text": "place the pink piggy toy into the shopping cart", "skill": "Place", "language_memory": "The robot has successfully restocked the shopping cart with multiple toys, including yellow and brown teddy bears, a white rabbit, and a pink pig, by picking them from hooks and placing them into the cart while adjusting its posture and position throughout the process."}, {"start_frame": 3778, "end_frame": 3895, "action_text": "place the white bunny toy into the shopping cart", "skill": "Place", "language_memory": "The robot has successfully restocked the shopping cart by picking up and placing multiple toys, including yellow and brown teddy bears, a white rabbit, and a pink pig, while adjusting its posture and orientation throughout the process."}, {"start_frame": 3895, "end_frame": 3936, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot has successfully restocked the shopping cart by picking up and placing multiple toys, including yellow and brown teddy bears, white bunnies, and a pink pig, into the cart while adjusting its posture and position throughout the task."}, {"start_frame": 3936, "end_frame": 4067, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has successfully restocked the shopping cart by picking up and placing multiple toys, including yellow and brown teddy bears, white bunnies, and a pink pig, while adjusting its posture and orientation throughout the process."}], "detailed_task_instruction": ["Restock the shopping cart by first adjusting your posture to a lower height, rotating your waist, and bending over to pick up the yellow bagged toy and the yellow teddy bear toy from the hook, then placing both items into the cart. Next, adjust your posture again, rotate your waist, decrease your height, and bend over to retrieve the small white rabbit toy and the brown teddy bear toy from the hook, subsequently placing them into the shopping cart. Finally, adjust your posture, rotate your waist, decrease your height, and bend over to pick up the small white rabbit toy and the pink pig toy from the hook, ensuring the rabbit is placed into the cart before the pig, and conclude by placing the remaining items into the shopping cart."]}
{"task_id": "task_3404", "episode_index": 15, "video_path": "task_3404/videos/chunk-000/{video_key}/episode_000015.mp4", "tasks": ["Restocking the bagged toy."], "length": 3066, "action_config": [{"start_frame": 42, "end_frame": 133, "action_text": "decrease height", "skill": "AdjustPosture", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 133, "end_frame": 315, "action_text": "pick up the blue bagged cotton swabs from the hook", "skill": "Pick", "language_memory": "The robot has decreased the height."}, {"start_frame": 315, "end_frame": 464, "action_text": "pick up the blue packaged cotton swabs from the hook", "skill": "Pick", "language_memory": "The robot decreased its height and picked up the blue bagged cotton swabs from the hook."}, {"start_frame": 464, "end_frame": 538, "action_text": "decrease height", "skill": "AdjustPosture", "language_memory": "The robot decreased its height and picked up the blue bagged and packaged cotton swabs from the hook."}, {"start_frame": 538, "end_frame": 772, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot decreased its height and picked up blue bagged and packaged cotton swabs from the hook."}, {"start_frame": 772, "end_frame": 958, "action_text": "place the blue bagged cotton swabs into the shopping cart", "skill": "Place", "language_memory": "The robot decreased its height, picked up blue bagged and packaged cotton swabs from the hook, and bent over."}, {"start_frame": 958, "end_frame": 1277, "action_text": "place the blue bagged cotton swabs into the shopping cart", "skill": "Place", "language_memory": "The robot decreased its height, bent over, picked up the blue bagged and packaged cotton swabs from the hook, and placed the blue bagged cotton swabs into the shopping cart."}, {"start_frame": 1277, "end_frame": 1322, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot decreased its height, bent over, and placed the blue bagged cotton swabs into the shopping cart."}, {"start_frame": 1322, "end_frame": 1520, "action_text": "decrease height", "skill": "AdjustPosture", "language_memory": "The robot decreased its height, bent over, picked up blue bagged and packaged cotton swabs from a hook, and placed the blue bagged cotton swabs into the shopping cart before adjusting its posture."}, {"start_frame": 1520, "end_frame": 1797, "action_text": "pick up the blue packaged cotton swabs from the hook", "skill": "Pick", "language_memory": "The robot decreased its height, picked up blue bagged and packaged cotton swabs from a hook, placed the bagged swabs into the shopping cart, and adjusted its posture."}, {"start_frame": 1797, "end_frame": 1959, "action_text": "pick up the blue packaged cotton swabs from the hook", "skill": "Pick", "language_memory": "The robot has decreased its height, bent over, adjusted its posture, and placed two blue bagged cotton swabs into the shopping cart."}, {"start_frame": 1959, "end_frame": 2000, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot has picked up multiple blue bagged and packaged cotton swabs from hooks and placed them into the shopping cart while adjusting its posture."}, {"start_frame": 2000, "end_frame": 2329, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot has picked up blue bagged and packaged cotton swabs from hooks and placed them into the shopping cart."}, {"start_frame": 2329, "end_frame": 2504, "action_text": "place the blue packaged cotton swabs into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up blue bagged and packaged cotton swabs from hooks and placed them into the shopping cart."}, {"start_frame": 2504, "end_frame": 2787, "action_text": "place the blue packaged cotton swabs into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up blue bagged and packaged cotton swabs from hooks and placed them into the shopping cart."}, {"start_frame": 2787, "end_frame": 2833, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot has picked up and placed multiple blue bagged and packaged cotton swabs into the shopping cart."}, {"start_frame": 2833, "end_frame": 3065, "action_text": "increase height", "skill": "AdjustPosture", "language_memory": "The robot has picked up and placed multiple blue bagged and packaged cotton swabs into the shopping cart."}], "detailed_task_instruction": ["Adjust your height and posture to reach the hooks, then pick up the blue bagged cotton swabs and place them into the shopping cart. Next, retrieve the blue packaged cotton swabs from the hook and deposit them into the shopping cart as well. Finally, increase your height to complete the restocking process."]}
{"task_id": "task_3404", "episode_index": 16, "video_path": "task_3404/videos/chunk-000/{video_key}/episode_000016.mp4", "tasks": ["Restocking the bagged toy."], "length": 4240, "action_config": [{"start_frame": 46, "end_frame": 128, "action_text": "decrease height", "skill": "AdjustPosture", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 128, "end_frame": 361, "action_text": "pick up the blue packaged cotton swabs from the hook", "skill": "Pick", "language_memory": "The robot has decreased the height."}, {"start_frame": 361, "end_frame": 575, "action_text": "pick up the blue packaged cotton swabs from the hook", "skill": "Pick", "language_memory": "The robot decreased its height and picked up the blue packaged cotton swabs from the hook."}, {"start_frame": 575, "end_frame": 628, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot decreased its height and picked up the blue packaged cotton swabs from the hook."}, {"start_frame": 628, "end_frame": 852, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot decreased its height, picked up the blue packaged cotton swabs from the hook, and adjusted its posture."}, {"start_frame": 852, "end_frame": 1050, "action_text": "place the blue packaged cotton swabs into the shopping cart", "skill": "Place", "language_memory": "The robot decreased its height, adjusted its posture, bent over, and picked up the blue packaged cotton swabs from the hook."}, {"start_frame": 1050, "end_frame": 1351, "action_text": "place the blue packaged cotton swabs into the shopping cart", "skill": "Place", "language_memory": "The robot decreased its height, adjusted its posture, bent over, picked up the blue packaged cotton swabs from the hook, and placed them into the shopping cart."}, {"start_frame": 1351, "end_frame": 1520, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot decreased its height, adjusted its posture, bent over, picked up the blue packaged cotton swabs from the hook, and placed them into the shopping cart."}, {"start_frame": 1520, "end_frame": 1588, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot decreased its height, picked up blue packaged cotton swabs from a hook, adjusted its posture, bent over, and placed the cotton swabs into the shopping cart."}, {"start_frame": 1588, "end_frame": 1823, "action_text": "pick up the blue packaged cotton swabs from the hook", "skill": "Pick", "language_memory": "The robot decreased its height, picked up blue packaged cotton swabs from a hook, adjusted its posture, bent over, and placed the cotton swabs into the shopping cart."}, {"start_frame": 1823, "end_frame": 2041, "action_text": "place the blue bagged cotton swabs into the shopping cart", "skill": "Place", "language_memory": "The robot decreased its height, adjusted its posture multiple times, bent over, and successfully picked up and placed multiple blue packaged cotton swabs into the shopping cart."}, {"start_frame": 2041, "end_frame": 2109, "action_text": "decrease height", "skill": "AdjustPosture", "language_memory": "The robot decreased its height, adjusted its posture multiple times, and successfully picked up and placed multiple blue packaged cotton swabs into the shopping cart."}, {"start_frame": 2109, "end_frame": 2319, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot decreased its height, adjusted its posture, picked up multiple blue packaged cotton swabs from the hook, and placed them into the shopping cart."}, {"start_frame": 2319, "end_frame": 2444, "action_text": "place the blue packaged cotton swabs into the shopping cart", "skill": "Place", "language_memory": "The robot decreased its height, bent over, adjusted its posture multiple times, and successfully picked up and placed multiple blue packaged cotton swabs into the shopping cart."}, {"start_frame": 2444, "end_frame": 2678, "action_text": "place the blue packaged cotton swabs into the shopping cart", "skill": "Place", "language_memory": "The robot decreased its height, bent over, adjusted its posture multiple times, and successfully picked up and placed multiple blue packaged cotton swabs into the shopping cart."}, {"start_frame": 2678, "end_frame": 2719, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot decreased its height, bent over, adjusted its posture multiple times, and successfully picked up and placed multiple blue packaged cotton swabs into the shopping cart."}, {"start_frame": 2719, "end_frame": 3186, "action_text": "pick up the blue packaged cotton swabs from the hook", "skill": "Pick", "language_memory": "The robot decreased its height, adjusted its posture, bent over, and successfully picked up and placed multiple blue packaged cotton swabs into the shopping cart."}, {"start_frame": 3186, "end_frame": 3425, "action_text": "pick up the blue packaged cotton swabs from the hook", "skill": "Pick", "language_memory": "The robot has decreased its height, adjusted its posture multiple times, bent over, and successfully picked up and placed multiple blue packaged cotton swabs into the shopping cart."}, {"start_frame": 3425, "end_frame": 3691, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot repeatedly adjusted its posture, decreased height, and bent over to pick up multiple blue packaged cotton swabs from a hook and place them into a shopping cart."}, {"start_frame": 3691, "end_frame": 3847, "action_text": "place the blue packaged cotton swabs into the shopping cart", "skill": "Place", "language_memory": "The robot repeatedly adjusted its posture, decreased height, and bent over to pick up multiple blue packaged cotton swabs from a hook and place them into a shopping cart."}, {"start_frame": 3847, "end_frame": 4111, "action_text": "place the blue bagged cotton swabs into the shopping cart", "skill": "Place", "language_memory": "The robot repeatedly adjusted its posture, decreased height, and bent over to pick up multiple blue packaged cotton swabs from a hook and place them into a shopping cart."}, {"start_frame": 4111, "end_frame": 4152, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot repeatedly picked up blue packaged cotton swabs from a hook and placed them into a shopping cart while adjusting its posture and bending over."}], "detailed_task_instruction": ["Adjust your robot posture and decrease your height to bend over. Pick up the blue packaged cotton swabs from the hook and place them into the shopping cart. Repeat this process of picking up the blue packaged cotton swabs from the hook and placing them into the shopping cart until all items are restocked. Ensure you adjust your robot posture and decrease your height as needed to reach the hook and the cart. Finally, place the last blue bagged cotton swabs into the shopping cart."]}
{"task_id": "task_3404", "episode_index": 17, "video_path": "task_3404/videos/chunk-000/{video_key}/episode_000017.mp4", "tasks": ["Restocking the bagged toy."], "length": 4248, "action_config": [{"start_frame": 91, "end_frame": 221, "action_text": "decrease height", "skill": "AdjustPosture", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 221, "end_frame": 322, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has decreased the height."}, {"start_frame": 322, "end_frame": 455, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot has decreased its height and rotated its waist."}, {"start_frame": 455, "end_frame": 858, "action_text": "pick up the blue packaged cotton swabs from the shopping cart", "skill": "Pick", "language_memory": "The robot has decreased its height, rotated its waist, and bent over."}, {"start_frame": 858, "end_frame": 1049, "action_text": "clamp the object", "skill": "Clamp", "language_memory": "The robot decreased its height, rotated its waist, bent over, and picked up the blue packaged cotton swabs from the shopping cart."}, {"start_frame": 1049, "end_frame": 1462, "action_text": "pick up the blue packaged cotton swabs from the shopping cart", "skill": "Pick", "language_memory": "The robot decreased its height, rotated its waist, bent over, picked up the blue packaged cotton swabs from the shopping cart, and clamped the object."}, {"start_frame": 1462, "end_frame": 1507, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot decreased its height, rotated its waist, bent over, and successfully picked up the blue packaged cotton swabs from the shopping cart."}, {"start_frame": 1507, "end_frame": 1596, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot adjusted its posture, decreased height, rotated its waist, and bent over to pick up and clamp the blue packaged cotton swabs from the shopping cart."}, {"start_frame": 1596, "end_frame": 1659, "action_text": "increase height", "skill": "AdjustPosture", "language_memory": "The robot adjusted its posture, rotated its waist, decreased its height, bent over, and successfully picked up the blue packaged cotton swabs from the shopping cart."}, {"start_frame": 1659, "end_frame": 1865, "action_text": "place the blue bagged cotton swabs on the hook", "skill": "Place", "language_memory": "The robot adjusted its posture, rotated its waist, and picked up the blue packaged cotton swabs from the shopping cart."}, {"start_frame": 1865, "end_frame": 1999, "action_text": "pick up the object", "skill": "Pick", "language_memory": "The robot adjusted its posture, picked up the blue packaged cotton swabs from the shopping cart, and placed them on the hook."}, {"start_frame": 1999, "end_frame": 2173, "action_text": "place the blue bag of cotton swabs onto the hook", "skill": "Place", "language_memory": "The robot adjusted its posture, picked up the blue packaged cotton swabs from the shopping cart, and placed them on the hook."}, {"start_frame": 2173, "end_frame": 2232, "action_text": "decrease height", "skill": "AdjustPosture", "language_memory": "The robot adjusted its posture, picked up the blue packaged cotton swabs from the shopping cart, and placed them on the hook."}, {"start_frame": 2232, "end_frame": 2346, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot adjusted its posture, picked up the blue packaged cotton swabs from the shopping cart, and placed them on the hook."}, {"start_frame": 2346, "end_frame": 2469, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot adjusted its posture, picked up blue packaged cotton swabs from the shopping cart, and placed them on the hook."}, {"start_frame": 2469, "end_frame": 3221, "action_text": "pick up the blue packaged cotton swabs from the shopping cart", "skill": "Pick", "language_memory": "The robot adjusted its posture, picked up blue packaged cotton swabs from the shopping cart, and placed them on the hook."}, {"start_frame": 3221, "end_frame": 3709, "action_text": "clamp the object", "skill": "Clamp", "language_memory": "The robot adjusted its posture, picked up blue packaged cotton swabs from the shopping cart, and placed them on the hook."}, {"start_frame": 3709, "end_frame": 4079, "action_text": "clamp", "skill": "Clamp", "language_memory": "The robot adjusted its posture, picked up blue packaged cotton swabs from the shopping cart, and placed them on the hook."}, {"start_frame": 4079, "end_frame": 4247, "action_text": "place the blue bagged cotton swabs on the hook", "skill": "Place", "language_memory": "The robot adjusted its posture, picked up blue packaged cotton swabs from the shopping cart, and placed them on the hook."}], "detailed_task_instruction": ["Adjust your posture by decreasing your height, rotating your waist, and bending over to access the shopping cart. Pick up the blue packaged cotton swabs, clamp the object securely, and adjust your posture as needed. Increase your height and rotate your waist to reach the storage area. Place the blue bagged cotton swabs onto the designated hook. If necessary, repeat the process of picking up the swabs from the cart, clamping the object, and placing it on the hook until the restocking is complete. Ensure all movements, including height adjustments and waist rotations, are performed smoothly to maintain balance and reach the required locations for the blue bagged cotton swabs."]}
{"task_id": "task_3404", "episode_index": 18, "video_path": "task_3404/videos/chunk-000/{video_key}/episode_000018.mp4", "tasks": ["Restocking the bagged toy."], "length": 4033, "action_config": [{"start_frame": 45, "end_frame": 111, "action_text": "decrease height", "skill": "AdjustPosture", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 111, "end_frame": 281, "action_text": "pick up the blue packaged cotton swabs from the hook", "skill": "Pick", "language_memory": "The robot has decreased the height."}, {"start_frame": 281, "end_frame": 442, "action_text": "pick up the blue packaged cotton swabs from the hook", "skill": "Pick", "language_memory": "The robot decreased its height and picked up the blue packaged cotton swabs from the hook."}, {"start_frame": 442, "end_frame": 513, "action_text": "decrease height", "skill": "AdjustPosture", "language_memory": "The robot decreased its height and picked up the blue packaged cotton swabs from the hook."}, {"start_frame": 513, "end_frame": 652, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot decreased its height and picked up the blue packaged cotton swabs from the hook."}, {"start_frame": 652, "end_frame": 759, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot decreased its height, picked up the blue packaged cotton swabs from the hook, and rotated its waist."}, {"start_frame": 759, "end_frame": 939, "action_text": "place the blue packaged cotton swabs into the shopping cart", "skill": "Place", "language_memory": "The robot decreased its height, picked up the blue packaged cotton swabs from the hook, rotated its waist, and bent over."}, {"start_frame": 939, "end_frame": 1172, "action_text": "place the blue packaged cotton swabs into the shopping cart", "skill": "Place", "language_memory": "The robot decreased its height, rotated its waist, bent over, picked up the blue packaged cotton swabs from the hook, and placed them into the shopping cart."}, {"start_frame": 1172, "end_frame": 1226, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot decreased its height, rotated its waist, bent over, picked up the blue packaged cotton swabs from the hook, and placed them into the shopping cart."}, {"start_frame": 1226, "end_frame": 1420, "action_text": "increase height", "skill": "AdjustPosture", "language_memory": "The robot decreased its height, picked up blue packaged cotton swabs from a hook, rotated its waist, bent over, and placed the cotton swabs into the shopping cart before adjusting its posture."}, {"start_frame": 1420, "end_frame": 1610, "action_text": "pick up the blue packaged cotton swabs from the hook", "skill": "Pick", "language_memory": "The robot decreased its height, picked up blue packaged cotton swabs from a hook, rotated its waist, bent over, placed the cotton swabs into a shopping cart, adjusted its posture, and increased its height."}, {"start_frame": 1610, "end_frame": 1823, "action_text": "pick up the blue packaged cotton swabs from the hook", "skill": "Pick", "language_memory": "The robot decreased its height, rotated its waist, bent over, and adjusted its posture to pick up multiple blue packaged cotton swabs from a hook and place them into a shopping cart."}, {"start_frame": 1823, "end_frame": 1881, "action_text": "decrease height", "skill": "AdjustPosture", "language_memory": "The robot adjusted its posture, picked up multiple blue packaged cotton swabs from the hook, and placed them into the shopping cart."}, {"start_frame": 1881, "end_frame": 2111, "action_text": "rotate the torso", "skill": "Rotate", "language_memory": "The robot adjusted its posture, picked up multiple blue packaged cotton swabs from the hook, and placed them into the shopping cart."}, {"start_frame": 2111, "end_frame": 2279, "action_text": "place the blue packaged cotton swabs into the shopping cart", "skill": "Place", "language_memory": "The robot adjusted its posture, picked up multiple blue packaged cotton swabs from the hook, and placed them into the shopping cart."}, {"start_frame": 2279, "end_frame": 2520, "action_text": "place the blue packaged cotton swabs into the shopping cart", "skill": "Place", "language_memory": "The robot successfully picked up multiple blue packaged cotton swabs from the hook and placed them into the shopping cart."}, {"start_frame": 2520, "end_frame": 2559, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot successfully picked up multiple blue packaged cotton swabs from the hook and placed them into the shopping cart."}, {"start_frame": 2559, "end_frame": 2724, "action_text": "increase height", "skill": "AdjustPosture", "language_memory": "The robot successfully picked up multiple blue packaged cotton swabs from the hook and placed them into the shopping cart."}, {"start_frame": 2724, "end_frame": 2899, "action_text": "pick up the blue packaged cotton swabs from the hook", "skill": "Pick", "language_memory": "The robot successfully picked up multiple blue packaged cotton swabs from the hook and placed them into the shopping cart."}, {"start_frame": 2899, "end_frame": 3110, "action_text": "pick up the blue bagged cotton swabs from the hook", "skill": "Pick", "language_memory": "The robot has repeatedly picked up blue packaged cotton swabs from the hook and placed them into the shopping cart while adjusting its posture and height."}, {"start_frame": 3110, "end_frame": 3168, "action_text": "decrease height", "skill": "AdjustPosture", "language_memory": "The robot has adjusted its posture and height, rotated its torso and waist, and successfully picked up and placed multiple blue packaged cotton swabs into the shopping cart."}, {"start_frame": 3168, "end_frame": 3364, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot repeatedly picked up blue packaged cotton swabs from the hook and placed them into the shopping cart while adjusting its posture and height."}, {"start_frame": 3364, "end_frame": 3427, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot has successfully picked up multiple blue packaged cotton swabs from the hook and placed them into the shopping cart, while adjusting its posture and height throughout the process."}, {"start_frame": 3427, "end_frame": 3579, "action_text": "place the blue bagged cotton swabs into the shopping cart", "skill": "Place", "language_memory": "The robot has successfully picked up multiple blue packaged cotton swabs from the hook and placed them into the shopping cart."}, {"start_frame": 3579, "end_frame": 3856, "action_text": "place the blue packaged cotton swabs into the shopping cart", "skill": "Place", "language_memory": "The robot successfully picked up multiple blue packaged cotton swabs and a blue bagged cotton swab from the hook and placed them into the shopping cart."}, {"start_frame": 3856, "end_frame": 3911, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot successfully picked up multiple blue packaged cotton swabs from the hook and placed them into the shopping cart."}], "detailed_task_instruction": ["Restock the shopping cart by retrieving multiple blue packaged cotton swabs and one blue bagged cotton swab from the hook. To access the items, adjust your posture by decreasing height, rotating your waist or torso, and bending over as needed. Pick up each item from the hook, then carefully place them into the shopping cart. Repeat this process for all available blue packages and the bagged item, ensuring you adjust your height and body orientation appropriately between each retrieval and placement to maintain balance and reach. Once all items are successfully transferred from the hook to the cart, the restocking task is complete."]}
{"task_id": "task_3404", "episode_index": 19, "video_path": "task_3404/videos/chunk-000/{video_key}/episode_000019.mp4", "tasks": ["Restocking the bagged toy."], "length": 3365, "action_config": [{"start_frame": 55, "end_frame": 122, "action_text": "decrease height", "skill": "AdjustPosture", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 122, "end_frame": 382, "action_text": "pick up the blue packaged cotton swabs from the hook", "skill": "Pick", "language_memory": "The robot has decreased the height."}, {"start_frame": 382, "end_frame": 667, "action_text": "pick up the blue packaged cotton swabs from the hook", "skill": "Pick", "language_memory": "The robot decreased its height and picked up the blue packaged cotton swabs from the hook."}, {"start_frame": 667, "end_frame": 702, "action_text": "decrease height", "skill": "AdjustPosture", "language_memory": "The robot decreased its height and picked up the blue packaged cotton swabs from the hook."}, {"start_frame": 702, "end_frame": 1192, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot decreased its height and picked up the blue packaged cotton swabs from the hook."}, {"start_frame": 1192, "end_frame": 1296, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot decreased its height, picked up the blue packaged cotton swabs from the hook, and rotated its waist."}, {"start_frame": 1296, "end_frame": 1488, "action_text": "place the blue packaged cotton swabs into the shopping cart", "skill": "Place", "language_memory": "The robot decreased its height, picked up the blue packaged cotton swabs from the hook, rotated its waist, and bent over."}, {"start_frame": 1488, "end_frame": 1733, "action_text": "place the blue packaged cotton swabs into the shopping cart", "skill": "Place", "language_memory": "The robot decreased its height, rotated its waist, bent over, picked up the blue packaged cotton swabs from the hook, and placed them into the shopping cart."}, {"start_frame": 1733, "end_frame": 1776, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot decreased its height, rotated its waist, bent over, picked up the blue packaged cotton swabs from the hook, and placed them into the shopping cart."}, {"start_frame": 1776, "end_frame": 1930, "action_text": "increase height", "skill": "AdjustPosture", "language_memory": "The robot decreased its height, picked up blue packaged cotton swabs from a hook, rotated its waist, bent over, and placed the cotton swabs into the shopping cart before adjusting its posture."}, {"start_frame": 1930, "end_frame": 2140, "action_text": "pick up the blue packaged cotton swabs from the hook", "skill": "Pick", "language_memory": "The robot decreased its height, picked up blue packaged cotton swabs from a hook, rotated its waist, bent over, placed the cotton swabs into a shopping cart, adjusted its posture, and increased its height."}, {"start_frame": 2140, "end_frame": 2322, "action_text": "pick up the blue packaged cotton swabs from the hook", "skill": "Pick", "language_memory": "The robot decreased its height, rotated its waist, bent over, and adjusted its posture to pick up multiple blue packaged cotton swabs from a hook and place them into a shopping cart."}, {"start_frame": 2322, "end_frame": 2383, "action_text": "decrease height", "skill": "AdjustPosture", "language_memory": "The robot adjusted its posture, picked up multiple blue packaged cotton swabs from the hook, and placed them into the shopping cart."}, {"start_frame": 2383, "end_frame": 2562, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot adjusted its posture, picked up multiple blue packaged cotton swabs from the hook, and placed them into the shopping cart."}, {"start_frame": 2562, "end_frame": 2653, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot adjusted its posture, picked up multiple blue packaged cotton swabs from the hook, and placed them into the shopping cart."}, {"start_frame": 2653, "end_frame": 2823, "action_text": "place the blue packaged cotton swabs into the shopping cart", "skill": "Place", "language_memory": "The robot adjusted its posture, picked up multiple blue packaged cotton swabs from the hook, and placed them into the shopping cart."}, {"start_frame": 2823, "end_frame": 3211, "action_text": "place the blue packaged cotton swabs into the shopping cart", "skill": "Place", "language_memory": "The robot successfully picked up multiple blue packaged cotton swabs from the hook and placed them into the shopping cart."}, {"start_frame": 3211, "end_frame": 3264, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot successfully picked up multiple blue packaged cotton swabs from the hook and placed them into the shopping cart."}], "detailed_task_instruction": ["Adjust your posture to decrease height, rotate your waist, and bend over to pick up the blue packaged cotton swabs from the hook. Place the first item into the shopping cart. Adjust your posture, increase height, then repeat the sequence of decreasing height, rotating your waist, and bending over to pick up the remaining blue packaged cotton swabs from the hook. Place each subsequent item into the shopping cart until all blue packaged cotton swabs have been restocked."]}
{"task_id": "task_3404", "episode_index": 20, "video_path": "task_3404/videos/chunk-000/{video_key}/episode_000020.mp4", "tasks": ["Restocking the bagged toy."], "length": 3325, "action_config": [{"start_frame": 83, "end_frame": 189, "action_text": "decrease height", "skill": "AdjustPosture", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 189, "end_frame": 406, "action_text": "pick up the blue packaged cotton swabs from the hook", "skill": "Pick", "language_memory": "The robot has decreased the height."}, {"start_frame": 406, "end_frame": 647, "action_text": "pick up the blue packaged cotton swabs from the hook", "skill": "Pick", "language_memory": "The robot decreased its height and picked up the blue packaged cotton swabs from the hook."}, {"start_frame": 647, "end_frame": 709, "action_text": "decrease height", "skill": "AdjustPosture", "language_memory": "The robot decreased its height and picked up the blue packaged cotton swabs from the hook."}, {"start_frame": 709, "end_frame": 1010, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot decreased its height and picked up the blue packaged cotton swabs from the hook."}, {"start_frame": 1010, "end_frame": 1250, "action_text": "place the blue packaged cotton swabs into the shopping cart", "skill": "Place", "language_memory": "The robot decreased its height, picked up the blue packaged cotton swabs from the hook, and bent over."}, {"start_frame": 1250, "end_frame": 1469, "action_text": "place the blue packaged cotton swabs into the shopping cart", "skill": "Place", "language_memory": "The robot decreased its height, bent over, picked up the blue packaged cotton swabs from the hook, and placed them into the shopping cart."}, {"start_frame": 1469, "end_frame": 1521, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot decreased its height, bent over, picked up the blue packaged cotton swabs from the hook, and placed them into the shopping cart."}, {"start_frame": 1521, "end_frame": 1935, "action_text": "pick up the blue packaged cotton swabs from the hook", "skill": "Pick", "language_memory": "The robot decreased its height, bent over, picked up the blue packaged cotton swabs from the hook, and placed them into the shopping cart before adjusting its posture."}, {"start_frame": 1935, "end_frame": 2188, "action_text": "pick up the blue packaged cotton swabs from the hook", "skill": "Pick", "language_memory": "The robot decreased its height, bent over, adjusted its posture, and picked up the blue packaged cotton swabs from the hook to place them into the shopping cart."}, {"start_frame": 2188, "end_frame": 2543, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot picked up multiple blue packaged cotton swabs from the hook and placed them into the shopping cart."}, {"start_frame": 2543, "end_frame": 2734, "action_text": "place the blue packaged cotton swabs into the shopping cart", "skill": "Place", "language_memory": "The robot adjusted its posture, picked up multiple blue packaged cotton swabs from the hook, and placed them into the shopping cart."}, {"start_frame": 2734, "end_frame": 3013, "action_text": "place the blue packaged cotton swabs into the shopping cart", "skill": "Place", "language_memory": "The robot decreased its height, bent over, and picked up multiple blue packaged cotton swabs from the hook before placing them into the shopping cart."}, {"start_frame": 3013, "end_frame": 3130, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot decreased its height, bent over, and picked up multiple blue packaged cotton swabs from the hook before placing them into the shopping cart."}, {"start_frame": 3130, "end_frame": 3324, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot adjusted its posture, picked up multiple blue packaged cotton swabs from the hook, and placed them into the shopping cart."}], "detailed_task_instruction": ["Adjust your posture by decreasing height and bending over to reach the hook. Pick up the blue packaged cotton swabs from the hook and place them into the shopping cart. Repeat this process of picking up the blue packaged cotton swabs from the hook and placing them into the shopping cart until all items are restocked. Throughout the task, adjust your robot posture and rotate your waist as needed to maintain proper alignment and reach the items."]}
{"task_id": "task_3404", "episode_index": 21, "video_path": "task_3404/videos/chunk-000/{video_key}/episode_000021.mp4", "tasks": ["Restocking the bagged toy."], "length": 3077, "action_config": [{"start_frame": 60, "end_frame": 133, "action_text": "decrease height", "skill": "AdjustPosture", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 133, "end_frame": 317, "action_text": "pick up the blue packaged cotton swabs from the hook", "skill": "Pick", "language_memory": "The robot has decreased the height."}, {"start_frame": 317, "end_frame": 500, "action_text": "pick up the blue packaged cotton swabs from the hook", "skill": "Pick", "language_memory": "The robot decreased its height and picked up the blue packaged cotton swabs from the hook."}, {"start_frame": 500, "end_frame": 593, "action_text": "decrease height", "skill": "AdjustPosture", "language_memory": "The robot decreased its height and picked up the blue packaged cotton swabs from the hook."}, {"start_frame": 593, "end_frame": 866, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot decreased its height and picked up the blue packaged cotton swabs from the hook."}, {"start_frame": 866, "end_frame": 1088, "action_text": "place the blue bag of cotton swabs into the shopping cart", "skill": "Place", "language_memory": "The robot decreased its height, picked up the blue packaged cotton swabs from the hook, and bent over."}, {"start_frame": 1088, "end_frame": 1398, "action_text": "place the blue packaged cotton swabs into the shopping cart", "skill": "Place", "language_memory": "The robot decreased its height, bent over, picked up the blue packaged cotton swabs from the hook, and placed the blue bag of cotton swabs into the shopping cart."}, {"start_frame": 1398, "end_frame": 1439, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot decreased its height, bent over, picked up the blue packaged cotton swabs from the hook, and placed them into the shopping cart."}, {"start_frame": 1439, "end_frame": 1645, "action_text": "rotate the waist while lowering the body", "skill": "Rotate", "language_memory": "The robot decreased its height, bent over, picked up the blue packaged cotton swabs from the hook, and placed them into the shopping cart before adjusting its posture."}, {"start_frame": 1645, "end_frame": 1917, "action_text": "pick up the blue packaged cotton swabs from the hook", "skill": "Pick", "language_memory": "The robot decreased its height, bent over, and rotated its waist while lowering its body to pick up two blue packaged cotton swabs from a hook and place them into the shopping cart."}, {"start_frame": 1917, "end_frame": 2134, "action_text": "pick up the blue packaged cotton swabs from the hook", "skill": "Pick", "language_memory": "The robot picked up multiple blue packaged cotton swabs from the hook and placed them into the shopping cart."}, {"start_frame": 2134, "end_frame": 2175, "action_text": "decrease height", "skill": "AdjustPosture", "language_memory": "The robot picked up multiple blue packaged cotton swabs from the hook and placed them into the shopping cart."}, {"start_frame": 2175, "end_frame": 2428, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot has picked up multiple blue packaged cotton swabs from the hook and placed them into the shopping cart."}, {"start_frame": 2428, "end_frame": 2619, "action_text": "place the blue packaged cotton swabs into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up multiple blue packaged cotton swabs from hooks and placed them into the shopping cart while adjusting its posture."}, {"start_frame": 2619, "end_frame": 2887, "action_text": "place the blue packaged cotton swabs into the shopping cart", "skill": "Place", "language_memory": "The robot successfully picked up multiple blue packaged cotton swabs from the hook and placed them into the shopping cart."}, {"start_frame": 2887, "end_frame": 2937, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot successfully picked up multiple blue packaged cotton swabs from the hook and placed them into the shopping cart."}, {"start_frame": 2937, "end_frame": 3076, "action_text": "rotate the waist while lifting the body upward", "skill": "Rotate", "language_memory": "The robot successfully picked up multiple blue packaged cotton swabs from the hook and placed them into the shopping cart."}], "detailed_task_instruction": ["Adjust your posture by rotating your waist and lowering your body to reach the hooks. Pick up the blue packaged cotton swabs from the hooks and place them into the shopping cart. Repeat this process of bending down, retrieving the blue packaged cotton swabs, and placing them in the cart until all items are restocked. Finally, rotate your waist and lift your body upward to return to your original standing position."]}
{"task_id": "task_3404", "episode_index": 22, "video_path": "task_3404/videos/chunk-000/{video_key}/episode_000022.mp4", "tasks": ["Restocking the bagged toy."], "length": 3009, "action_config": [{"start_frame": 40, "end_frame": 114, "action_text": "decrease height", "skill": "AdjustPosture", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 114, "end_frame": 396, "action_text": "pick up the blue packaged cotton swabs from the hook", "skill": "Pick", "language_memory": "The robot has decreased the height."}, {"start_frame": 396, "end_frame": 625, "action_text": "pick up the blue bagged cotton swabs from the hook", "skill": "Pick", "language_memory": "The robot decreased its height and picked up the blue packaged cotton swabs from the hook."}, {"start_frame": 625, "end_frame": 683, "action_text": "decrease height", "skill": "AdjustPosture", "language_memory": "The robot decreased its height and picked up the blue packaged cotton swabs and the blue bagged cotton swabs from the hook."}, {"start_frame": 683, "end_frame": 988, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot decreased its height and picked up blue packaged cotton swabs and blue bagged cotton swabs from the hook."}, {"start_frame": 988, "end_frame": 1165, "action_text": "place the blue packaged cotton swabs into the shopping cart", "skill": "Place", "language_memory": "The robot decreased its height, picked up blue packaged cotton swabs and blue bagged cotton swabs from the hook, and bent over."}, {"start_frame": 1165, "end_frame": 1417, "action_text": "place the blue packaged cotton swabs into the shopping cart", "skill": "Place", "language_memory": "The robot decreased its height, bent over, picked up blue packaged and bagged cotton swabs from a hook, and placed the packaged swabs into the shopping cart."}, {"start_frame": 1417, "end_frame": 1461, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot decreased its height, bent over, picked up blue packaged and bagged cotton swabs from a hook, and placed them into the shopping cart."}, {"start_frame": 1461, "end_frame": 1633, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot decreased its height, bent over, picked up blue packaged cotton swabs from the hook, and placed them into the shopping cart."}, {"start_frame": 1633, "end_frame": 1918, "action_text": "pick up the blue packaged cotton swabs from the hook", "skill": "Pick", "language_memory": "The robot decreased its height, bent over, picked up blue packaged and bagged cotton swabs from a hook, and placed the blue packaged cotton swabs into the shopping cart."}, {"start_frame": 1918, "end_frame": 2169, "action_text": "pick up the blue packaged cotton swabs from the hook", "skill": "Pick", "language_memory": "The robot decreased its height, bent over, and picked up multiple blue packaged cotton swabs from the hook, placing them into the shopping cart while adjusting its posture."}, {"start_frame": 2169, "end_frame": 2235, "action_text": "decrease height", "skill": "AdjustPosture", "language_memory": "The robot adjusted its posture, picked up multiple blue packaged cotton swabs from the hook, and placed them into the shopping cart."}, {"start_frame": 2235, "end_frame": 2389, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot decreased its height, bent over, and picked up multiple blue packaged cotton swabs from the hook before placing them into the shopping cart and adjusting its posture."}, {"start_frame": 2389, "end_frame": 2480, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot adjusted its posture, decreased height, and bent over to pick up multiple blue packaged cotton swabs from the hook, placing them into the shopping cart."}, {"start_frame": 2480, "end_frame": 2634, "action_text": "place the blue packaged cotton swabs into the shopping cart", "skill": "Place", "language_memory": "The robot has adjusted its posture, decreased height, and bent over multiple times to pick up blue packaged cotton swabs from hooks and place them into the shopping cart."}, {"start_frame": 2634, "end_frame": 2875, "action_text": "place the blue bag of cotton swabs into the shopping cart", "skill": "Place", "language_memory": "The robot has decreased its height, bent over, adjusted its posture, rotated its waist, and picked up multiple blue packaged cotton swabs from the hook to place them into the shopping cart."}, {"start_frame": 2875, "end_frame": 2919, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot has decreased its height, bent over, adjusted its posture, rotated its waist, and placed multiple blue packaged cotton swabs and a blue bag of cotton swabs into the shopping cart."}], "detailed_task_instruction": ["Restock the bagged toy by first adjusting your height and bending over to pick up the blue packaged cotton swabs from the hook, then placing them into the shopping cart. Next, bend over again to retrieve the blue bagged cotton swabs from the hook and place them into the shopping cart. Finally, adjust your posture to complete the restocking process."]}
{"task_id": "task_3404", "episode_index": 23, "video_path": "task_3404/videos/chunk-000/{video_key}/episode_000023.mp4", "tasks": ["Restocking the bagged toy."], "length": 2889, "action_config": [{"start_frame": 70, "end_frame": 161, "action_text": "decrease height", "skill": "AdjustPosture", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 161, "end_frame": 386, "action_text": "pick up the blue bagged cotton swabs from the hook", "skill": "Pick", "language_memory": "The robot has decreased the height."}, {"start_frame": 386, "end_frame": 591, "action_text": "pick up the blue packaged cotton swabs from the hook", "skill": "Pick", "language_memory": "The robot decreased its height and picked up the blue bagged cotton swabs from the hook."}, {"start_frame": 591, "end_frame": 645, "action_text": "increase height", "skill": "AdjustPosture", "language_memory": "The robot decreased its height and picked up the blue bagged and packaged cotton swabs from the hook."}, {"start_frame": 645, "end_frame": 899, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot decreased its height, picked up the blue bagged cotton swabs and the blue packaged cotton swabs from the hook, and then increased its height."}, {"start_frame": 899, "end_frame": 1070, "action_text": "place the blue packaged cotton swabs into the shopping cart", "skill": "Place", "language_memory": "The robot decreased its height, picked up the blue bagged cotton swabs and the blue packaged cotton swabs from the hook, increased its height, and bent over."}, {"start_frame": 1070, "end_frame": 1351, "action_text": "place the blue packaged cotton swabs into the shopping cart", "skill": "Place", "language_memory": "The robot decreased height, picked up blue bagged and packaged cotton swabs from the hook, increased height, bent over, and placed the blue packaged cotton swabs into the shopping cart."}, {"start_frame": 1351, "end_frame": 1406, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot decreased height, picked up blue bagged and packaged cotton swabs from the hook, increased height, bent over, and placed the blue packaged cotton swabs into the shopping cart."}, {"start_frame": 1406, "end_frame": 1626, "action_text": "increase height", "skill": "AdjustPosture", "language_memory": "The robot decreased its height, picked up blue bagged and packaged cotton swabs from the hook, increased its height, bent over, placed the blue packaged cotton swabs into the shopping cart, and adjusted its posture."}, {"start_frame": 1626, "end_frame": 1858, "action_text": "place the blue packaged cotton swabs into the shopping cart", "skill": "Place", "language_memory": "The robot decreased and increased its height, bent over, adjusted its posture, picked up blue bagged and packaged cotton swabs from a hook, and placed the packaged cotton swabs into the shopping cart."}, {"start_frame": 1858, "end_frame": 2080, "action_text": "place the blue packaged cotton swabs into the shopping cart", "skill": "Place", "language_memory": "The robot decreased and increased its height, bent over, adjusted its posture, and placed multiple blue packaged cotton swabs into the shopping cart."}, {"start_frame": 2080, "end_frame": 2130, "action_text": "decrease height", "skill": "AdjustPosture", "language_memory": "The robot adjusted its posture and height, picked up blue bagged and packaged cotton swabs from a hook, and placed all of them into the shopping cart."}, {"start_frame": 2130, "end_frame": 2241, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot adjusted its posture and height, picked up blue bagged and packaged cotton swabs from a hook, and placed all of them into the shopping cart."}, {"start_frame": 2241, "end_frame": 2357, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot adjusted its posture and height, picked up blue bagged cotton swabs from a hook, and placed them into the shopping cart."}, {"start_frame": 2357, "end_frame": 2561, "action_text": "place the blue packaged cotton swabs into the shopping cart", "skill": "Place", "language_memory": "The robot adjusted its posture and height, picked up blue bagged cotton swabs from a hook, and placed them into the shopping cart."}, {"start_frame": 2561, "end_frame": 2740, "action_text": "place the blue packaged cotton swabs into the shopping cart", "skill": "Place", "language_memory": "The robot adjusted its posture and height, picked up blue bagged cotton swabs from a hook, and placed them into the shopping cart."}, {"start_frame": 2740, "end_frame": 2787, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot adjusted its posture and height, picked up blue bagged cotton swabs from a hook, and placed multiple packages of blue cotton swabs into the shopping cart."}], "detailed_task_instruction": ["Adjust your height and bend over to decrease your stature, then pick up the blue bagged cotton swabs and the blue packaged cotton swabs from the hook. Increase your height and adjust your posture as needed. Proceed to place the blue packaged cotton swabs into the shopping cart, repeating this placement action multiple times as required. Rotate your waist and bend over again to access additional items if necessary, ensuring all blue packaged cotton swabs are successfully transferred into the cart. Finally, adjust your robot posture to complete the restocking process."]}
{"task_id": "task_3404", "episode_index": 24, "video_path": "task_3404/videos/chunk-000/{video_key}/episode_000024.mp4", "tasks": ["Restocking the bagged toy."], "length": 3061, "action_config": [{"start_frame": 30, "end_frame": 153, "action_text": "decrease height", "skill": "AdjustPosture", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 153, "end_frame": 357, "action_text": "pick up the blue bagged cotton swabs from the hook", "skill": "Pick", "language_memory": "The robot has decreased the height."}, {"start_frame": 357, "end_frame": 583, "action_text": "pick up the blue packaged cotton swabs from the hook", "skill": "Pick", "language_memory": "The robot decreased its height and picked up the blue bagged cotton swabs from the hook."}, {"start_frame": 583, "end_frame": 661, "action_text": "decrease height", "skill": "AdjustPosture", "language_memory": "The robot decreased its height and picked up the blue bagged and packaged cotton swabs from the hook."}, {"start_frame": 661, "end_frame": 905, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot decreased its height and picked up blue bagged and packaged cotton swabs from the hook."}, {"start_frame": 905, "end_frame": 1106, "action_text": "place the blue packaged cotton swabs into the shopping cart", "skill": "Place", "language_memory": "The robot decreased its height, picked up blue bagged and packaged cotton swabs from the hook, and bent over."}, {"start_frame": 1106, "end_frame": 1349, "action_text": "place the blue-packaged cotton swabs into the shopping cart", "skill": "Place", "language_memory": "The robot decreased its height, bent over, picked up blue bagged and packaged cotton swabs from a hook, and placed the packaged swabs into the shopping cart."}, {"start_frame": 1349, "end_frame": 1421, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot decreased its height, bent over, and placed the blue bagged and packaged cotton swabs into the shopping cart."}, {"start_frame": 1421, "end_frame": 1555, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot decreased its height, bent over, picked up blue bagged and packaged cotton swabs from a hook, and placed them into the shopping cart before adjusting its posture."}, {"start_frame": 1555, "end_frame": 1616, "action_text": "increase height", "skill": "AdjustPosture", "language_memory": "The robot decreased its height, bent over, and adjusted its posture while rotating its waist to pick up blue bagged and packaged cotton swabs from a hook and place them into the shopping cart."}, {"start_frame": 1616, "end_frame": 1838, "action_text": "pick up the blue bagged cotton swabs from the hook", "skill": "Pick", "language_memory": "The robot decreased its height, picked up blue bagged and packaged cotton swabs from a hook, placed the packaged swabs into a shopping cart, and adjusted its posture by bending over, rotating its waist, and increasing its height."}, {"start_frame": 1838, "end_frame": 2066, "action_text": "pick up the blue packaged cotton swabs from the hook", "skill": "Pick", "language_memory": "The robot decreased height, bent over, adjusted its posture, rotated its waist, increased height, and picked up blue bagged and packaged cotton swabs from the hook, subsequently placing the packaged cotton swabs into the shopping cart."}, {"start_frame": 2066, "end_frame": 2159, "action_text": "decrease height", "skill": "AdjustPosture", "language_memory": "The robot adjusted its posture and height, picked up multiple blue bagged and packaged cotton swabs from the hook, and placed them into the shopping cart."}, {"start_frame": 2159, "end_frame": 2333, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot adjusted its posture and height, picked up multiple blue bagged and packaged cotton swabs from the hook, and placed them into the shopping cart."}, {"start_frame": 2333, "end_frame": 2464, "action_text": "bend at the waist while lowering the body", "skill": "AdjustPosture", "language_memory": "The robot adjusted its posture and height, rotated its waist, and successfully picked up and placed multiple blue bagged and packaged cotton swabs into the shopping cart."}, {"start_frame": 2464, "end_frame": 2668, "action_text": "place the blue bagged cotton swabs into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up multiple blue bagged and packaged cotton swabs from hooks and placed them into the shopping cart while adjusting its posture and height."}, {"start_frame": 2668, "end_frame": 2894, "action_text": "place the blue packaged cotton swabs into the shopping cart", "skill": "Place", "language_memory": "The robot picked up blue bagged and packaged cotton swabs from hooks and placed them into the shopping cart."}], "detailed_task_instruction": ["Adjust your posture by decreasing height, bending over, and rotating your waist to reach the hooks. Pick up the blue bagged cotton swabs and the blue packaged cotton swabs from the hooks. After adjusting your height and posture again, pick up the blue bagged cotton swabs and the blue packaged cotton swabs from the hooks once more. Finally, place both the blue bagged cotton swabs and the blue packaged cotton swabs into the shopping cart to complete the restocking of the bagged toy."]}
{"task_id": "task_3404", "episode_index": 25, "video_path": "task_3404/videos/chunk-000/{video_key}/episode_000025.mp4", "tasks": ["Restocking the bagged toy."], "length": 3038, "action_config": [{"start_frame": 50, "end_frame": 145, "action_text": "decrease height", "skill": "AdjustPosture", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 145, "end_frame": 380, "action_text": "pick up the blue packaged cotton swabs from the hook", "skill": "Pick", "language_memory": "The robot has decreased the height."}, {"start_frame": 380, "end_frame": 643, "action_text": "pick up the blue packaged cotton swabs from the hook", "skill": "Pick", "language_memory": "The robot decreased its height and picked up the blue packaged cotton swabs from the hook."}, {"start_frame": 643, "end_frame": 717, "action_text": "decrease height", "skill": "AdjustPosture", "language_memory": "The robot decreased its height and picked up the blue packaged cotton swabs from the hook."}, {"start_frame": 717, "end_frame": 980, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot decreased its height and picked up the blue packaged cotton swabs from the hook."}, {"start_frame": 980, "end_frame": 1170, "action_text": "place the blue bagged cotton swabs into the shopping cart", "skill": "Place", "language_memory": "The robot decreased its height, picked up the blue packaged cotton swabs from the hook, and bent over."}, {"start_frame": 1170, "end_frame": 1394, "action_text": "place the blue packaged cotton swabs into the shopping cart", "skill": "Place", "language_memory": "The robot decreased its height, bent over, picked up the blue packaged cotton swabs from the hook, and placed them into the shopping cart."}, {"start_frame": 1394, "end_frame": 1427, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot decreased its height, bent over, picked up the blue packaged cotton swabs from the hook, and placed them into the shopping cart."}, {"start_frame": 1427, "end_frame": 1640, "action_text": "rotate the waist while lowering the body", "skill": "Rotate", "language_memory": "The robot decreased its height, bent over, picked up the blue packaged cotton swabs from the hook, and placed them into the shopping cart before adjusting its posture."}, {"start_frame": 1640, "end_frame": 1909, "action_text": "pick up the blue packaged cotton swabs from the hook", "skill": "Pick", "language_memory": "The robot decreased its height, bent over, and rotated its waist while lowering its body to pick up blue packaged cotton swabs from a hook and place them into a shopping cart."}, {"start_frame": 1909, "end_frame": 2113, "action_text": "pick up the blue packaged cotton swabs from the hook", "skill": "Pick", "language_memory": "The robot picked up multiple blue packaged cotton swabs from the hook and placed them into the shopping cart."}, {"start_frame": 2113, "end_frame": 2177, "action_text": "decrease height", "skill": "AdjustPosture", "language_memory": "The robot has picked up multiple blue packaged cotton swabs from the hook and placed them into the shopping cart."}, {"start_frame": 2177, "end_frame": 2418, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot has picked up multiple blue packaged cotton swabs from the hook and placed them into the shopping cart."}, {"start_frame": 2418, "end_frame": 2609, "action_text": "place the blue packaged cotton swabs into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up multiple blue packaged cotton swabs from hooks and placed them into the shopping cart while adjusting its posture."}, {"start_frame": 2609, "end_frame": 2854, "action_text": "place the blue packaged cotton swabs into the shopping cart", "skill": "Place", "language_memory": "The robot successfully picked up multiple blue packaged cotton swabs from the hook and placed them into the shopping cart."}, {"start_frame": 2854, "end_frame": 2907, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot has successfully picked up multiple blue packaged cotton swabs from hooks and placed them into the shopping cart."}, {"start_frame": 2907, "end_frame": 3037, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot successfully picked up multiple blue packaged cotton swabs from the hook and placed them into the shopping cart."}], "detailed_task_instruction": ["Restock the bagged toy by first adjusting your posture to decrease height and bend over. Rotate your waist while lowering your body to reach the hook and pick up the blue packaged cotton swabs. Place the blue bagged cotton swabs into the shopping cart. Repeat this sequence of adjusting posture, rotating the waist, lowering the body, picking up the blue packaged cotton swabs from the hook, and placing them into the shopping cart until all items are restocked. Ensure the robot posture is adjusted appropriately throughout the process to maintain balance and reach the items effectively."]}
{"task_id": "task_3404", "episode_index": 26, "video_path": "task_3404/videos/chunk-000/{video_key}/episode_000026.mp4", "tasks": ["Restocking the bagged toy."], "length": 3053, "action_config": [{"start_frame": 50, "end_frame": 115, "action_text": "decrease height", "skill": "AdjustPosture", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 115, "end_frame": 354, "action_text": "pick up the blue packaged cotton swabs from the hook", "skill": "Pick", "language_memory": "The robot has decreased the height."}, {"start_frame": 354, "end_frame": 520, "action_text": "pick up the blue packaged cotton swabs from the hook", "skill": "Pick", "language_memory": "The robot decreased its height and picked up the blue packaged cotton swabs from the hook."}, {"start_frame": 520, "end_frame": 589, "action_text": "decrease height", "skill": "AdjustPosture", "language_memory": "The robot decreased its height and picked up the blue packaged cotton swabs from the hook."}, {"start_frame": 589, "end_frame": 831, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot decreased its height and picked up the blue packaged cotton swabs from the hook."}, {"start_frame": 831, "end_frame": 1033, "action_text": "place the blue packaged cotton swabs into the shopping cart", "skill": "Place", "language_memory": "The robot decreased its height, picked up the blue packaged cotton swabs from the hook, and bent over."}, {"start_frame": 1033, "end_frame": 1337, "action_text": "place the blue packaged cotton swabs into the shopping cart", "skill": "Place", "language_memory": "The robot decreased its height, bent over, picked up the blue packaged cotton swabs from the hook, and placed them into the shopping cart."}, {"start_frame": 1337, "end_frame": 1376, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot decreased its height, bent over, picked up the blue packaged cotton swabs from the hook, and placed them into the shopping cart."}, {"start_frame": 1376, "end_frame": 1507, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot decreased its height, bent over, picked up the blue packaged cotton swabs from the hook, and placed them into the shopping cart before adjusting its posture."}, {"start_frame": 1507, "end_frame": 1573, "action_text": "increase height", "skill": "AdjustPosture", "language_memory": "The robot decreased its height, bent over, and adjusted its posture to pick up blue packaged cotton swabs from a hook and place them into a shopping cart."}, {"start_frame": 1573, "end_frame": 1803, "action_text": "pick up the blue packaged cotton swabs from the hook", "skill": "Pick", "language_memory": "The robot decreased its height, picked up blue packaged cotton swabs from a hook, and placed them into a shopping cart."}, {"start_frame": 1803, "end_frame": 2030, "action_text": "pick up the blue bagged cotton swabs from the hook", "skill": "Pick", "language_memory": "The robot decreased its height, bent over, and rotated its waist to pick up multiple blue packaged cotton swabs from a hook and place them into the shopping cart."}, {"start_frame": 2030, "end_frame": 2109, "action_text": "decrease height", "skill": "AdjustPosture", "language_memory": "The robot decreased its height, bent over, and rotated its waist to pick up multiple blue packaged cotton swabs from the hook and place them into the shopping cart."}, {"start_frame": 2109, "end_frame": 2288, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot decreased its height, bent over, and rotated its waist to pick up multiple blue packaged cotton swabs from the hook and place them into the shopping cart."}, {"start_frame": 2288, "end_frame": 2397, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot picked up multiple blue packaged cotton swabs from the hook and placed them into the shopping cart."}, {"start_frame": 2397, "end_frame": 2623, "action_text": "place the blue packaged cotton swabs into the shopping cart", "skill": "Place", "language_memory": "The robot decreased its height, bent over, and rotated its waist to pick up multiple blue packaged cotton swabs from a hook and place them into a shopping cart."}, {"start_frame": 2623, "end_frame": 2875, "action_text": "place the blue packaged cotton swabs into the shopping cart", "skill": "Place", "language_memory": "The robot successfully picked up multiple blue packaged cotton swabs from the hook and placed them into the shopping cart."}, {"start_frame": 2875, "end_frame": 2921, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot successfully picked up multiple blue packaged cotton swabs from the hook and placed them into the shopping cart."}], "detailed_task_instruction": ["Restock the bagged toys by first adjusting your height and bending over to pick up the blue packaged cotton swabs from the hook, then placing them into the shopping cart. Repeat this process for the second blue packaged cotton swab. Next, rotate your waist, increase your height, and bend over again to pick up the blue bagged cotton swabs from the hook. Finally, place the blue bagged cotton swabs into the shopping cart and adjust your robot posture to complete the restocking task."]}
{"task_id": "task_3404", "episode_index": 27, "video_path": "task_3404/videos/chunk-000/{video_key}/episode_000027.mp4", "tasks": ["Restocking the bagged toy."], "length": 2969, "action_config": [{"start_frame": 60, "end_frame": 125, "action_text": "decrease height", "skill": "AdjustPosture", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 125, "end_frame": 354, "action_text": "pick up the blue packaged cotton swabs from the hook", "skill": "Pick", "language_memory": "The robot has decreased the height."}, {"start_frame": 354, "end_frame": 579, "action_text": "pick up the blue packaged cotton swabs from the hook", "skill": "Pick", "language_memory": "The robot decreased its height and picked up the blue packaged cotton swabs from the hook."}, {"start_frame": 579, "end_frame": 643, "action_text": "increase height", "skill": "AdjustPosture", "language_memory": "The robot decreased its height and picked up the blue packaged cotton swabs from the hook."}, {"start_frame": 643, "end_frame": 905, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot decreased its height, picked up the blue packaged cotton swabs from the hook, and increased its height."}, {"start_frame": 905, "end_frame": 1092, "action_text": "place the blue packaged cotton swabs into the shopping cart", "skill": "Place", "language_memory": "The robot decreased its height, picked up the blue packaged cotton swabs from the hook, and increased its height."}, {"start_frame": 1092, "end_frame": 1323, "action_text": "place the blue packaged cotton swabs into the shopping cart", "skill": "Place", "language_memory": "The robot decreased its height, picked up the blue packaged cotton swabs from the hook, increased its height, bent over, and placed the blue packaged cotton swabs into the shopping cart."}, {"start_frame": 1323, "end_frame": 1375, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot decreased height, picked up blue packaged cotton swabs from the hook, increased height, bent over, and placed the blue packaged cotton swabs into the shopping cart."}, {"start_frame": 1375, "end_frame": 1485, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot decreased its height, picked up blue packaged cotton swabs from a hook, increased its height, bent over, placed the cotton swabs into the shopping cart, and adjusted its posture."}, {"start_frame": 1485, "end_frame": 1602, "action_text": "increase height", "skill": "AdjustPosture", "language_memory": "The robot decreased its height, picked up blue packaged cotton swabs from a hook, increased its height, bent over, placed the cotton swabs into a shopping cart, adjusted its posture, and rotated its waist."}, {"start_frame": 1602, "end_frame": 1869, "action_text": "pick up the blue packaged cotton swabs from the hook", "skill": "Pick", "language_memory": "The robot decreased its height, picked up blue packaged cotton swabs from a hook, increased its height, bent over, placed the cotton swabs into a shopping cart, adjusted its posture, rotated its waist, and increased its height again."}, {"start_frame": 1869, "end_frame": 2038, "action_text": "pick up the blue packaged cotton swabs from the hook", "skill": "Pick", "language_memory": "The robot decreased and increased its height, bent over, adjusted its posture, rotated its waist, and successfully picked up and placed multiple blue packaged cotton swabs into the shopping cart."}, {"start_frame": 2038, "end_frame": 2099, "action_text": "increase height", "skill": "AdjustPosture", "language_memory": "The robot adjusted its posture and height, picked up multiple blue packaged cotton swabs from the hook, and placed them into the shopping cart."}, {"start_frame": 2099, "end_frame": 2376, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot decreased and increased its height multiple times, bent over, adjusted its posture, rotated its waist, and successfully picked up and placed multiple blue packaged cotton swabs into the shopping cart."}, {"start_frame": 2376, "end_frame": 2558, "action_text": "place the blue packaged cotton swabs into the shopping cart", "skill": "Place", "language_memory": "The robot adjusted its posture and height, picked up multiple blue packaged cotton swabs from the hook, and placed them into the shopping cart."}, {"start_frame": 2558, "end_frame": 2800, "action_text": "place the blue-packaged cotton swabs into the shopping cart", "skill": "Place", "language_memory": "The robot successfully picked up multiple blue packaged cotton swabs from the hook and placed them into the shopping cart."}, {"start_frame": 2800, "end_frame": 2854, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot successfully picked up multiple blue packaged cotton swabs from the hook and placed them into the shopping cart."}, {"start_frame": 2854, "end_frame": 2968, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot successfully picked up multiple blue packaged cotton swabs from the hook and placed them into the shopping cart."}], "detailed_task_instruction": ["Adjust your posture by decreasing your height and bending over to reach the hook. Rotate your waist and increase your height as needed to access the blue packaged cotton swabs. Pick up the blue packaged cotton swabs from the hook and place them into the shopping cart. Repeat this process of adjusting your posture, rotating your waist, increasing height, picking up the blue packaged cotton swabs from the hook, and placing them into the shopping cart until all items are restocked. Ensure you maintain proper alignment by adjusting your robot posture throughout the task."]}
{"task_id": "task_3404", "episode_index": 28, "video_path": "task_3404/videos/chunk-000/{video_key}/episode_000028.mp4", "tasks": ["Restocking the bagged toy."], "length": 3349, "action_config": [{"start_frame": 60, "end_frame": 137, "action_text": "decrease height", "skill": "AdjustPosture", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 137, "end_frame": 413, "action_text": "pick up the blue packaged cotton swabs from the hook", "skill": "Pick", "language_memory": "The robot has decreased the height."}, {"start_frame": 413, "end_frame": 648, "action_text": "pick up the blue bagged cotton swabs from the hook", "skill": "Pick", "language_memory": "The robot decreased its height and picked up the blue packaged cotton swabs from the hook."}, {"start_frame": 648, "end_frame": 703, "action_text": "decrease height", "skill": "AdjustPosture", "language_memory": "The robot decreased its height and picked up the blue packaged cotton swabs and the blue bagged cotton swabs from the hook."}, {"start_frame": 703, "end_frame": 1044, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot decreased its height and picked up blue packaged cotton swabs and blue bagged cotton swabs from the hook."}, {"start_frame": 1044, "end_frame": 1295, "action_text": "place the blue packaged cotton swabs into the shopping cart", "skill": "Place", "language_memory": "The robot decreased its height, picked up blue packaged cotton swabs and blue bagged cotton swabs from the hook, and bent over."}, {"start_frame": 1295, "end_frame": 1624, "action_text": "place the blue bag of cotton swabs into the shopping cart", "skill": "Place", "language_memory": "The robot decreased its height, bent over, picked up blue packaged and bagged cotton swabs from a hook, and placed the packaged swabs into the shopping cart."}, {"start_frame": 1624, "end_frame": 1667, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot decreased its height, bent over, and placed both the blue packaged cotton swabs and the blue bagged cotton swabs into the shopping cart."}, {"start_frame": 1667, "end_frame": 1779, "action_text": "rotate the waist upward", "skill": "Rotate", "language_memory": "The robot decreased its height, bent over, picked up blue packaged and bagged cotton swabs from a hook, and placed them into the shopping cart before adjusting its posture."}, {"start_frame": 1779, "end_frame": 1868, "action_text": "decrease height", "skill": "AdjustPosture", "language_memory": "The robot decreased its height, bent over, and placed both the blue packaged and blue bagged cotton swabs into the shopping cart before adjusting its posture and rotating its waist upward."}, {"start_frame": 1868, "end_frame": 2136, "action_text": "pick up the blue bagged cotton swabs from the hook", "skill": "Pick", "language_memory": "The robot decreased its height, bent over, and placed both the blue packaged and blue bagged cotton swabs into the shopping cart while adjusting its posture."}, {"start_frame": 2136, "end_frame": 2449, "action_text": "pick up the blue bagged cotton swabs from the hook", "skill": "Pick", "language_memory": "The robot decreased its height, bent over, and adjusted its posture to pick up multiple blue packaged and bagged cotton swabs from hooks, subsequently placing them into the shopping cart."}, {"start_frame": 2449, "end_frame": 2508, "action_text": "increase height", "skill": "AdjustPosture", "language_memory": "The robot decreased its height, bent over, and adjusted its posture to pick up multiple blue packaged and bagged cotton swabs from hooks, subsequently placing them into the shopping cart."}, {"start_frame": 2508, "end_frame": 2702, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot decreased height, bent over, and adjusted its posture to pick up multiple blue packaged and bagged cotton swabs from hooks, placing them into the shopping cart before increasing its height."}, {"start_frame": 2702, "end_frame": 2800, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot decreased height, bent over, and adjusted its posture to pick up multiple blue packaged and bagged cotton swabs from hooks, placing them into the shopping cart while rotating its waist and varying its height."}, {"start_frame": 2800, "end_frame": 2966, "action_text": "place the blue packaged cotton swabs into the shopping cart", "skill": "Place", "language_memory": "The robot decreased height, bent over, and picked up multiple blue packaged and bagged cotton swabs from hooks before placing them into the shopping cart, with additional adjustments to posture and waist rotation performed throughout the sequence."}, {"start_frame": 2966, "end_frame": 3200, "action_text": "place the blue packaged cotton swabs into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up multiple blue packaged and bagged cotton swabs from hooks and placed them into the shopping cart while adjusting its posture and height."}, {"start_frame": 3200, "end_frame": 3255, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot has decreased height, bent over, and rotated its waist to pick up multiple blue packaged and bagged cotton swabs from hooks, then placed them into the shopping cart while adjusting its posture and height."}, {"start_frame": 3255, "end_frame": 3348, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has adjusted its posture multiple times, decreased and increased height, and successfully placed multiple blue packaged and bagged cotton swabs into the shopping cart."}], "detailed_task_instruction": ["Restock the bagged toy by first adjusting your height and bending over to pick up the blue packaged cotton swabs from the hook, then placing them into the shopping cart. Next, decrease your height again, bend over, and retrieve the blue bagged cotton swabs from the hook before placing that bag into the shopping cart. Finally, adjust your posture, rotate your waist, decrease your height once more, and pick up the blue bagged cotton swabs from the hook to complete the restocking process. Ensure all items are securely placed in the cart while maintaining proper body positioning throughout the sequence."]}
{"task_id": "task_3404", "episode_index": 29, "video_path": "task_3404/videos/chunk-000/{video_key}/episode_000029.mp4", "tasks": ["Restocking the bagged toy."], "length": 2875, "action_config": [{"start_frame": 45, "end_frame": 100, "action_text": "decrease height", "skill": "AdjustPosture", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 100, "end_frame": 246, "action_text": "pick up the blue packaged cotton swabs from the hook", "skill": "Pick", "language_memory": "The robot has decreased the height."}, {"start_frame": 246, "end_frame": 409, "action_text": "pick up the blue packaged cotton swabs from the hook", "skill": "Pick", "language_memory": "The robot decreased its height and picked up the blue packaged cotton swabs from the hook."}, {"start_frame": 409, "end_frame": 465, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot decreased its height and picked up the blue packaged cotton swabs from the hook."}, {"start_frame": 465, "end_frame": 804, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot decreased its height, picked up the blue packaged cotton swabs from the hook, and adjusted its posture."}, {"start_frame": 804, "end_frame": 1062, "action_text": "place the blue-packaged cotton swabs into the shopping cart", "skill": "Place", "language_memory": "The robot decreased its height, adjusted its posture, bent over, and picked up the blue packaged cotton swabs from the hook."}, {"start_frame": 1062, "end_frame": 1273, "action_text": "place the blue packaged cotton swabs into the shopping cart", "skill": "Place", "language_memory": "The robot decreased its height, adjusted its posture, bent over, picked up the blue packaged cotton swabs from the hook, and placed them into the shopping cart."}, {"start_frame": 1273, "end_frame": 1342, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot decreased its height, adjusted its posture, bent over, and placed the blue-packaged cotton swabs into the shopping cart."}, {"start_frame": 1342, "end_frame": 1503, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot decreased its height, picked up blue packaged cotton swabs from a hook, adjusted its posture, bent over, and placed the cotton swabs into the shopping cart."}, {"start_frame": 1503, "end_frame": 1547, "action_text": "decrease height", "skill": "AdjustPosture", "language_memory": "The robot picked up blue packaged cotton swabs from a hook and placed them into the shopping cart."}, {"start_frame": 1547, "end_frame": 1773, "action_text": "pick up the blue packaged cotton swabs from the hook", "skill": "Pick", "language_memory": "The robot decreased its height, picked up blue packaged cotton swabs from a hook, adjusted its posture, bent over, and placed the cotton swabs into the shopping cart."}, {"start_frame": 1773, "end_frame": 2001, "action_text": "pick up the blue packaged cotton swabs from the hook", "skill": "Pick", "language_memory": "The robot picked up multiple blue packaged cotton swabs from the hook and placed them into the shopping cart."}, {"start_frame": 2001, "end_frame": 2061, "action_text": "increase height", "skill": "AdjustPosture", "language_memory": "The robot picked up multiple blue packaged cotton swabs from the hook and placed them into the shopping cart."}, {"start_frame": 2061, "end_frame": 2271, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot picked up multiple blue packaged cotton swabs from the hook and placed them into the shopping cart."}, {"start_frame": 2271, "end_frame": 2465, "action_text": "place the blue packaged cotton swabs into the shopping cart", "skill": "Place", "language_memory": "The robot picked up multiple blue packaged cotton swabs from the hook and placed them into the shopping cart."}, {"start_frame": 2465, "end_frame": 2652, "action_text": "place the blue packaged cotton swabs into the shopping cart", "skill": "Place", "language_memory": "The robot successfully picked up multiple blue packaged cotton swabs from the hook and placed them into the shopping cart."}, {"start_frame": 2652, "end_frame": 2710, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot successfully picked up multiple blue packaged cotton swabs from the hook and placed them into the shopping cart."}, {"start_frame": 2710, "end_frame": 2874, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot successfully picked up multiple blue packaged cotton swabs from the hook and placed them into the shopping cart."}], "detailed_task_instruction": ["Adjust your posture and decrease your height to reach the hook. Pick up the blue packaged cotton swabs, bend over, and place them into the shopping cart. Repeat this sequence of picking up the blue packaged cotton swabs from the hook, adjusting your posture, bending over, and placing the items into the shopping cart for all available packages. Once all items are secured in the cart, increase your height and adjust your final posture to complete the restocking task."]}
{"task_id": "task_3404", "episode_index": 30, "video_path": "task_3404/videos/chunk-000/{video_key}/episode_000030.mp4", "tasks": ["Restocking the bagged toy."], "length": 2923, "action_config": [{"start_frame": 40, "end_frame": 114, "action_text": "decrease height", "skill": "AdjustPosture", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 114, "end_frame": 236, "action_text": "pick up the blue packaged cotton swabs from the hook", "skill": "Pick", "language_memory": "The robot has decreased the height."}, {"start_frame": 236, "end_frame": 553, "action_text": "pick up the blue packaged cotton swabs from the hook", "skill": "Pick", "language_memory": "The robot decreased its height and picked up the blue packaged cotton swabs from the hook."}, {"start_frame": 553, "end_frame": 669, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot decreased its height and picked up the blue packaged cotton swabs from the hook."}, {"start_frame": 669, "end_frame": 860, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot decreased its height, picked up the blue packaged cotton swabs from the hook, and adjusted its posture."}, {"start_frame": 860, "end_frame": 922, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot decreased its height, picked up the blue packaged cotton swabs from the hook, adjusted its posture, and rotated its waist."}, {"start_frame": 922, "end_frame": 1113, "action_text": "place the blue packaged cotton swabs into the shopping cart", "skill": "Place", "language_memory": "The robot decreased its height, adjusted its posture, rotated its waist, and bent over to prepare for picking up the blue packaged cotton swabs from the hook."}, {"start_frame": 1113, "end_frame": 1333, "action_text": "place the blue bagged cotton swabs into the shopping cart", "skill": "Place", "language_memory": "The robot decreased its height, adjusted its posture, rotated its waist, bent over, picked up the blue packaged cotton swabs from the hook, and placed them into the shopping cart."}, {"start_frame": 1333, "end_frame": 1382, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot decreased its height, adjusted its posture, rotated its waist, and bent over to pick up two blue packaged cotton swabs from a hook and place them into the shopping cart."}, {"start_frame": 1382, "end_frame": 1534, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up blue packaged cotton swabs and placed them into the shopping cart."}, {"start_frame": 1534, "end_frame": 1777, "action_text": "pick up the blue packaged cotton swabs from the hook", "skill": "Pick", "language_memory": "The robot picked up blue packaged cotton swabs and placed them into the shopping cart."}, {"start_frame": 1777, "end_frame": 1856, "action_text": "hand over the blue bag of cotton swabs", "skill": "Handover", "language_memory": "The robot has picked up multiple blue packaged cotton swabs from the hook and placed them into the shopping cart."}, {"start_frame": 1856, "end_frame": 2186, "action_text": "pick up the blue packaged cotton swabs from the hook", "skill": "Pick", "language_memory": "The robot has decreased its height, adjusted its posture, rotated its waist, and bent over to pick up multiple blue packaged cotton swabs from a hook, placing them into a shopping cart, and finally handing over a blue bag of cotton swabs."}, {"start_frame": 2186, "end_frame": 2237, "action_text": "decrease height", "skill": "AdjustPosture", "language_memory": "The robot has decreased its height, adjusted its posture, rotated its waist, and bent over to pick up multiple blue packaged cotton swabs from the hook, placing some into the shopping cart and handing over one blue bag of cotton swabs."}, {"start_frame": 2237, "end_frame": 2333, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot decreased its height, rotated its waist, and adjusted its posture to pick up multiple blue packaged cotton swabs from a hook, placing them into a shopping cart and handing over a blue bag of cotton swabs."}, {"start_frame": 2333, "end_frame": 2404, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot has decreased its height, rotated its waist, and bent over to pick up multiple blue packaged cotton swabs from the hook, placing them into the shopping cart and handing over a blue bag of cotton swabs."}, {"start_frame": 2404, "end_frame": 2559, "action_text": "place the blue bagged cotton swabs into the shopping cart", "skill": "Place", "language_memory": "The robot has decreased its height, rotated its waist, and bent over to pick up multiple blue packaged cotton swabs from the hook, placing them into the shopping cart and handing over a blue bag of cotton swabs."}, {"start_frame": 2559, "end_frame": 2713, "action_text": "place the blue packaged cotton swabs into the shopping cart", "skill": "Place", "language_memory": "The robot decreased its height, rotated its waist, and bent over to pick up multiple blue packaged cotton swabs from the hook, placing them into the shopping cart and handing over one blue bag of cotton swabs."}, {"start_frame": 2713, "end_frame": 2766, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot successfully picked up multiple blue packaged cotton swabs from the hook and placed them into the shopping cart."}, {"start_frame": 2766, "end_frame": 2922, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot successfully picked up multiple blue packaged cotton swabs from the hook and placed them into the shopping cart."}], "detailed_task_instruction": ["Restock the bagged toy by first adjusting your posture, rotating your waist, and bending down to decrease your height. Pick up the blue packaged cotton swabs from the hook and place them into the shopping cart. Adjust your posture again, rotate your waist, and bend over to decrease your height. Pick up another blue packaged cotton swab from the hook and place it into the shopping cart. Finally, adjust your posture, rotate your waist, and bend over to decrease your height one last time. Pick up the blue bagged cotton swabs from the hook and place them into the shopping cart. Adjust your posture, rotate your waist, and bend over to decrease your height. Pick up the blue packaged cotton swabs from the hook and place them into the shopping cart. Adjust your posture, rotate your waist, and bend over to decrease your height. Pick up the blue bagged cotton swabs from the hook and place them into the shopping cart. Adjust your posture, rotate your waist, and bend over to decrease your height. Pick up the blue packaged cotton swabs from the hook and place them into the shopping cart. Adjust your posture, rotate your waist, and bend over to decrease your height. Pick up the blue bagged cotton swabs from the hook and place them into the shopping cart. Adjust your posture, rotate your waist, and bend over to decrease your height. Pick up the blue packaged cotton swabs from the hook and place them into the shopping cart. Adjust your posture, rotate your waist, and bend over to decrease your height. Pick up the blue bagged cotton swabs from the hook and place them into the shopping cart. Adjust your posture, rotate your waist, and bend over to decrease your height. Pick up the blue packaged cotton swabs from the hook and place them into the shopping cart. Adjust your posture, rotate your waist, and bend over to decrease your height. Pick up the blue bagged cotton swabs from the hook and place them into the shopping cart. Adjust your posture, rotate your waist, and bend over to decrease your height. Pick up the blue packaged cotton swabs from the hook and place them into the shopping cart. Adjust your posture, rotate your waist, and bend over to decrease your height. Pick up the blue bagged cotton swabs from the hook and place them into the shopping cart. Adjust your posture, rotate your waist, and bend over to decrease your height. Pick up the blue packaged cotton swabs from the hook and place them into the shopping cart. Adjust your posture, rotate your waist, and bend over to decrease your height. Pick up the blue bagged cotton swabs from the hook and place them into the shopping cart. Adjust your posture, rotate your waist, and bend over to decrease your height. Pick up the blue packaged cotton swabs from the hook and place them into the shopping cart. Adjust your posture, rotate your waist, and bend over to decrease your height. Pick up the blue bagged cotton swabs from the hook and place them into the shopping cart. Adjust your posture, rotate your waist, and bend over to decrease your height. Pick up the blue packaged cotton swabs from the hook and place them into the shopping cart. Adjust your posture, rotate your waist, and bend over to decrease your height. Pick up the blue bagged cotton swabs from the hook and place them into the shopping cart. Adjust your posture, rotate your waist, and bend over to decrease your height. Pick up the blue packaged cotton swabs from the hook and place them into the shopping cart. Adjust your posture, rotate your waist, and bend over to decrease your height. Pick up the blue bagged cotton swabs from the hook and place them into the shopping cart. Adjust your posture, rotate your waist, and bend over to decrease your height. Pick up the blue packaged cotton swabs from the hook and place them into the shopping cart. Adjust your posture, rotate your waist, and bend over to decrease your height. Pick up the blue bagged cotton swabs from the hook and place them into the shopping cart. Adjust your posture, rotate your waist, and bend over to decrease your height. Pick up the blue packaged cotton swabs from the hook and place them into the shopping cart. Adjust your posture, rotate your waist, and bend over to decrease your height. Pick up the blue bagged cotton swabs from the hook and place them into the shopping cart. Adjust your posture, rotate your waist, and bend over to decrease your height. Pick up the blue packaged cotton swabs from the hook and place them into the shopping cart. Adjust your posture, rotate your waist, and bend over to decrease your height. Pick up the blue bagged cotton swabs from the hook and place them into the shopping cart. Adjust your posture, rotate your waist, and bend over to decrease your height. Pick up the blue packaged cotton swabs from the hook and place them into the shopping cart. Adjust your posture, rotate your waist, and bend over to decrease your height. Pick"]}
{"task_id": "task_3404", "episode_index": 31, "video_path": "task_3404/videos/chunk-000/{video_key}/episode_000031.mp4", "tasks": ["Restocking the bagged toy."], "length": 3026, "action_config": [{"start_frame": 40, "end_frame": 275, "action_text": "pick up the blue packaged cotton swabs from the hook", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 275, "end_frame": 638, "action_text": "pick up the blue bagged cotton swabs from the hook", "skill": "Pick", "language_memory": "The robot has picked up the blue packaged cotton swabs from the hook."}, {"start_frame": 638, "end_frame": 732, "action_text": "decrease height", "skill": "AdjustPosture", "language_memory": "The robot has picked up blue packaged cotton swabs and blue bagged cotton swabs from the hook."}, {"start_frame": 732, "end_frame": 900, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot picked up blue packaged cotton swabs and blue bagged cotton swabs from the hook and decreased its height."}, {"start_frame": 900, "end_frame": 1122, "action_text": "place the blue bag of cotton swabs into the shopping cart", "skill": "Place", "language_memory": "The robot picked up blue packaged cotton swabs and blue bagged cotton swabs from the hook, then decreased its height and bent over."}, {"start_frame": 1122, "end_frame": 1296, "action_text": "place the blue packaged cotton swabs into the shopping cart", "skill": "Place", "language_memory": "The robot picked up blue packaged cotton swabs from the hook, adjusted its posture by decreasing height and bending over, and placed the blue bag of cotton swabs into the shopping cart."}, {"start_frame": 1296, "end_frame": 1342, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot picked up blue packaged and bagged cotton swabs from the hook, adjusted its posture by decreasing height and bending over, and placed both items into the shopping cart."}, {"start_frame": 1342, "end_frame": 1743, "action_text": "pick up the blue packaged cotton swabs from the hook", "skill": "Pick", "language_memory": "The robot picked up blue packaged and bagged cotton swabs from the hook, adjusted its posture by decreasing height and bending over, and placed both items into the shopping cart."}, {"start_frame": 1743, "end_frame": 2125, "action_text": "pick up the blue packaged cotton swabs from the hook", "skill": "Pick", "language_memory": "The robot picked up multiple blue packaged cotton swabs from the hook and placed them into the shopping cart."}, {"start_frame": 2125, "end_frame": 2187, "action_text": "decrease height", "skill": "AdjustPosture", "language_memory": "The robot picked up multiple blue packaged cotton swabs from the hook and placed them into the shopping cart."}, {"start_frame": 2187, "end_frame": 2340, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot picked up multiple blue packaged cotton swabs from the hook and placed them into the shopping cart."}, {"start_frame": 2340, "end_frame": 2541, "action_text": "place the blue packaged cotton swabs into the shopping cart", "skill": "Place", "language_memory": "The robot picked up multiple blue packaged cotton swabs from the hook and placed them into the shopping cart."}, {"start_frame": 2541, "end_frame": 2715, "action_text": "place the blue bag of cotton swabs into the shopping cart", "skill": "Place", "language_memory": "The robot picked up multiple blue packaged cotton swabs from the hook and placed them into the shopping cart."}, {"start_frame": 2715, "end_frame": 2767, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot has picked up multiple blue packaged cotton swabs and blue bagged cotton swabs from hooks and placed them into the shopping cart."}, {"start_frame": 2767, "end_frame": 2984, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up multiple blue packaged cotton swabs and blue bagged cotton swabs from hooks and successfully placed all of them into the shopping cart."}, {"start_frame": 2984, "end_frame": 3025, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot has picked up multiple blue packaged cotton swabs and blue bagged cotton swabs from hooks and successfully placed them into the shopping cart."}], "detailed_task_instruction": ["Restock the bagged toys by first adjusting your posture and bending down to pick up the blue bagged cotton swabs from the hook, then placing them into the shopping cart. Next, rotate your waist, adjust your posture, and bend down again to retrieve the blue packaged cotton swabs from the hook. Place these packaged swabs into the shopping cart as well. Finally, adjust your robot posture to complete the restocking process."]}
{"task_id": "task_3404", "episode_index": 32, "video_path": "task_3404/videos/chunk-000/{video_key}/episode_000032.mp4", "tasks": ["Restocking the bagged toy."], "length": 2695, "action_config": [{"start_frame": 20, "end_frame": 50, "action_text": "decrease height", "skill": "AdjustPosture", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 50, "end_frame": 273, "action_text": "pick up the blue packaged cotton swabs from the hook", "skill": "Pick", "language_memory": "The robot has decreased the height."}, {"start_frame": 273, "end_frame": 522, "action_text": "pick up the blue packaged cotton swabs from the hook", "skill": "Pick", "language_memory": "The robot decreased its height and picked up the blue packaged cotton swabs from the hook."}, {"start_frame": 522, "end_frame": 571, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot decreased its height and picked up the blue packaged cotton swabs from the hook."}, {"start_frame": 571, "end_frame": 600, "action_text": "decrease height", "skill": "AdjustPosture", "language_memory": "The robot decreased its height, picked up the blue packaged cotton swabs from the hook, and adjusted its posture."}, {"start_frame": 600, "end_frame": 753, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot decreased its height, picked up the blue packaged cotton swabs from the hook, and adjusted its posture."}, {"start_frame": 753, "end_frame": 819, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot decreased its height, picked up the blue packaged cotton swabs from the hook, adjusted its posture, and rotated its waist."}, {"start_frame": 819, "end_frame": 1025, "action_text": "place the blue packaged cotton swabs into the shopping cart", "skill": "Place", "language_memory": "The robot decreased its height, picked up the blue packaged cotton swabs from the hook, adjusted its posture, rotated its waist, and bent over."}, {"start_frame": 1025, "end_frame": 1252, "action_text": "place the blue packaged cotton swabs into the shopping cart", "skill": "Place", "language_memory": "The robot decreased its height, picked up the blue packaged cotton swabs from the hook, adjusted its posture, rotated its waist, bent over, and placed the cotton swabs into the shopping cart."}, {"start_frame": 1252, "end_frame": 1305, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot decreased its height, adjusted its posture, rotated its waist, and bent over to pick up blue packaged cotton swabs from a hook and place them into a shopping cart."}, {"start_frame": 1305, "end_frame": 1579, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot picked up blue packaged cotton swabs from a hook and placed them into a shopping cart."}, {"start_frame": 1579, "end_frame": 1745, "action_text": "pick up the blue bagged cotton swabs from the hook", "skill": "Pick", "language_memory": "The robot picked up blue packaged cotton swabs from a hook and placed them into a shopping cart."}, {"start_frame": 1745, "end_frame": 1830, "action_text": "hand over the blue packaged cotton swabs", "skill": "Handover", "language_memory": "The robot decreased its height, adjusted its posture, rotated its waist, and bent over to pick up two blue packaged cotton swabs from the hook and place them into the shopping cart, and finally picked up a blue bagged cotton swab from the hook."}, {"start_frame": 1830, "end_frame": 2032, "action_text": "pick up the blue packaged cotton swabs from the hook", "skill": "Pick", "language_memory": "The robot decreased its height, picked up blue packaged cotton swabs from the hook, adjusted its posture, rotated its waist, bent over, and placed the blue packaged cotton swabs into the shopping cart before handing over the blue bagged cotton swabs."}, {"start_frame": 2032, "end_frame": 2100, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot successfully picked up multiple blue packaged cotton swabs from the hook, adjusted its posture, and placed them into the shopping cart."}, {"start_frame": 2100, "end_frame": 2221, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot successfully picked up multiple blue packaged cotton swabs from the hook and placed them into the shopping cart."}, {"start_frame": 2221, "end_frame": 2391, "action_text": "place the blue packaged cotton swabs into the shopping cart", "skill": "Place", "language_memory": "The robot successfully picked up multiple blue packaged cotton swabs from the hook and placed them into the shopping cart."}, {"start_frame": 2391, "end_frame": 2544, "action_text": "place the blue packaged cotton swabs into the shopping cart", "skill": "Place", "language_memory": "The robot successfully picked up multiple blue packaged cotton swabs from the hook and placed them into the shopping cart."}, {"start_frame": 2544, "end_frame": 2589, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot successfully decreased its height, adjusted its posture, rotated its waist, and bent over multiple times to pick up blue packaged cotton swabs from a hook and place them into a shopping cart."}, {"start_frame": 2589, "end_frame": 2694, "action_text": "place the reset position", "skill": "Place", "language_memory": "The robot successfully picked up multiple blue packaged cotton swabs from the hook and placed them into the shopping cart."}], "detailed_task_instruction": ["Adjust your posture and decrease your height to reach the hooks. Pick up the blue packaged cotton swabs from the hook, rotate your waist, and bend over to place the item into the shopping cart. Repeat this process for the remaining blue packaged cotton swabs found on the hooks. After placing all the packaged items in the cart, hand over the blue bagged cotton swabs. Finally, adjust your posture back to the reset position."]}
{"task_id": "task_3404", "episode_index": 33, "video_path": "task_3404/videos/chunk-000/{video_key}/episode_000033.mp4", "tasks": ["Restocking the bagged toy."], "length": 2986, "action_config": [{"start_frame": 20, "end_frame": 80, "action_text": "decrease height", "skill": "AdjustPosture", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 80, "end_frame": 412, "action_text": "pick up the blue packaged cotton swabs from the hook", "skill": "Pick", "language_memory": "The robot has decreased the height."}, {"start_frame": 412, "end_frame": 647, "action_text": "pick up the blue packaged cotton swabs from the hook", "skill": "Pick", "language_memory": "The robot decreased its height and picked up the blue packaged cotton swabs from the hook."}, {"start_frame": 647, "end_frame": 762, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot decreased its height and picked up the blue packaged cotton swabs from the hook."}, {"start_frame": 762, "end_frame": 925, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot decreased its height, picked up the blue packaged cotton swabs from the hook, and adjusted its posture."}, {"start_frame": 925, "end_frame": 1091, "action_text": "place the blue packaged cotton swabs into the shopping cart", "skill": "Place", "language_memory": "The robot decreased its height, adjusted its posture, bent over, and picked up the blue packaged cotton swabs from the hook."}, {"start_frame": 1091, "end_frame": 1271, "action_text": "place the blue packaged cotton swabs into the shopping cart", "skill": "Place", "language_memory": "The robot decreased its height, adjusted its posture, bent over, picked up the blue packaged cotton swabs from the hook, and placed them into the shopping cart."}, {"start_frame": 1271, "end_frame": 1318, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot decreased its height, adjusted its posture, bent over, picked up the blue packaged cotton swabs from the hook, and placed them into the shopping cart."}, {"start_frame": 1318, "end_frame": 1558, "action_text": "increase height", "skill": "AdjustPosture", "language_memory": "The robot decreased its height, picked up blue packaged cotton swabs from a hook, adjusted its posture, bent over, and placed the cotton swabs into the shopping cart."}, {"start_frame": 1558, "end_frame": 1808, "action_text": "pick up the blue packaged cotton swabs from the hook", "skill": "Pick", "language_memory": "The robot decreased its height, picked up blue packaged cotton swabs from a hook, adjusted its posture, bent over, and placed the cotton swabs into a shopping cart before increasing its height."}, {"start_frame": 1808, "end_frame": 1919, "action_text": "hand over the blue bagged cotton swabs", "skill": "Handover", "language_memory": "The robot decreased its height, picked up blue packaged cotton swabs from the hook, adjusted its posture, bent over, and placed the cotton swabs into the shopping cart."}, {"start_frame": 1919, "end_frame": 2107, "action_text": "pick up the blue packaged cotton swabs from the hook", "skill": "Pick", "language_memory": "The robot decreased its height, picked up blue packaged cotton swabs from a hook, adjusted its posture, bent over, and placed the swabs into a shopping cart before increasing its height and handing over the blue bagged cotton swabs."}, {"start_frame": 2107, "end_frame": 2169, "action_text": "decrease height", "skill": "AdjustPosture", "language_memory": "The robot adjusted its posture, decreased and increased its height, and successfully picked up and placed multiple blue packaged cotton swabs into the shopping cart before handing over a blue bagged cotton swab."}, {"start_frame": 2169, "end_frame": 2282, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot adjusted its posture and height, picked up multiple blue packaged cotton swabs from the hook, and placed them into the shopping cart."}, {"start_frame": 2282, "end_frame": 2400, "action_text": "place the blue bagged cotton swabs into the shopping cart", "skill": "Place", "language_memory": "The robot adjusted its posture, decreased height, and bent over to pick up multiple blue packaged cotton swabs from the hook, placing them into the shopping cart and handing over a blue bagged cotton swab."}, {"start_frame": 2400, "end_frame": 2765, "action_text": "place the blue bagged cotton swabs into the shopping cart", "skill": "Place", "language_memory": "The robot adjusted its posture and height, picked up multiple blue packaged cotton swabs from the hook, and placed them into the shopping cart."}, {"start_frame": 2765, "end_frame": 2817, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot adjusted its posture and height, picked up multiple blue packaged cotton swabs from the hook, and placed them into the shopping cart."}, {"start_frame": 2817, "end_frame": 2943, "action_text": "rotate the waist while lowering the body", "skill": "Rotate", "language_memory": "The robot adjusted its posture, decreased and increased height, bent over, and successfully picked up and placed multiple blue packaged cotton swabs into the shopping cart."}, {"start_frame": 2943, "end_frame": 2985, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot adjusted its posture, decreased height, bent over, and placed multiple blue packaged cotton swabs into the shopping cart."}], "detailed_task_instruction": ["Adjust your posture and decrease your height to reach the hooks. Pick up the blue packaged cotton swabs from the hook, adjust your posture, and place them into the shopping cart. Repeat this process to pick up additional blue packaged cotton swabs and place them in the cart. Once all items are secured, increase your height, rotate your waist while lowering your body, and hand over the blue bagged cotton swabs."]}
{"task_id": "task_3404", "episode_index": 34, "video_path": "task_3404/videos/chunk-000/{video_key}/episode_000034.mp4", "tasks": ["Restocking the bagged toy."], "length": 2748, "action_config": [{"start_frame": 50, "end_frame": 126, "action_text": "decrease height", "skill": "AdjustPosture", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 126, "end_frame": 283, "action_text": "pick up the blue packaged cotton swabs from the hook", "skill": "Pick", "language_memory": "The robot has decreased the height."}, {"start_frame": 283, "end_frame": 516, "action_text": "pick up the blue bagged cotton swabs from the hook", "skill": "Pick", "language_memory": "The robot decreased its height and picked up the blue packaged cotton swabs from the hook."}, {"start_frame": 516, "end_frame": 569, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot decreased its height and picked up the blue packaged cotton swabs and the blue bagged cotton swabs from the hook."}, {"start_frame": 569, "end_frame": 641, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot decreased its height, picked up the blue packaged cotton swabs and the blue bagged cotton swabs from the hook, and adjusted its posture."}, {"start_frame": 641, "end_frame": 816, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot decreased its height, picked up blue packaged and bagged cotton swabs from the hook, adjusted its posture, and rotated its waist."}, {"start_frame": 816, "end_frame": 904, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot decreased its height, picked up blue packaged and bagged cotton swabs from the hook, and adjusted its posture and waist rotation."}, {"start_frame": 904, "end_frame": 1143, "action_text": "place the blue packaged cotton swabs into the shopping cart", "skill": "Place", "language_memory": "The robot decreased its height, picked up blue packaged and bagged cotton swabs from the hook, adjusted its posture, rotated its waist, and bent over."}, {"start_frame": 1143, "end_frame": 1379, "action_text": "place the blue packaged cotton swabs into the shopping cart", "skill": "Place", "language_memory": "The robot decreased its height, picked up blue packaged and bagged cotton swabs from the hook, adjusted its posture, rotated its waist, bent over, and placed the blue packaged cotton swabs into the shopping cart."}, {"start_frame": 1379, "end_frame": 1431, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot decreased its height, adjusted its posture, rotated its waist, bent over, picked up blue packaged cotton swabs and blue bagged cotton swabs from the hook, and placed the blue packaged cotton swabs into the shopping cart."}, {"start_frame": 1431, "end_frame": 1585, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot decreased its height, picked up blue packaged and bagged cotton swabs from the hook, adjusted its posture, rotated its waist, bent over, and placed the blue packaged cotton swabs into the shopping cart."}, {"start_frame": 1585, "end_frame": 1812, "action_text": "pick up the blue bagged cotton swabs from the hook", "skill": "Pick", "language_memory": "The robot decreased its height, picked up blue packaged and bagged cotton swabs from the hook, adjusted its posture, rotated its waist, bent over, and placed the blue packaged cotton swabs into the shopping cart."}, {"start_frame": 1812, "end_frame": 1898, "action_text": "hand over the blue bag of cotton swabs", "skill": "Handover", "language_memory": "The robot decreased its height, adjusted its posture, rotated its waist, bent over, picked up blue packaged and bagged cotton swabs from the hook, and placed the blue packaged cotton swabs into the shopping cart."}, {"start_frame": 1898, "end_frame": 2080, "action_text": "pick up the blue packaged cotton swabs from the hook", "skill": "Pick", "language_memory": "The robot decreased its height, picked up blue packaged and bagged cotton swabs from the hook, adjusted its posture and rotated its waist, placed the blue packaged cotton swabs into the shopping cart, and handed over the blue bag of cotton swabs."}, {"start_frame": 2080, "end_frame": 2117, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot decreased its height, adjusted its posture, rotated its waist, and bent over to pick up blue packaged and bagged cotton swabs from the hook, placing the packaged swabs into the shopping cart and handing over the bagged swabs."}, {"start_frame": 2117, "end_frame": 2370, "action_text": "place the blue packaged cotton swabs into the shopping cart", "skill": "Place", "language_memory": "The robot decreased its height, adjusted its posture, rotated its waist, bent over, and picked up blue packaged and bagged cotton swabs from the hook, placing the packaged swabs into the shopping cart and handing over the bagged swabs."}, {"start_frame": 2370, "end_frame": 2557, "action_text": "place the blue packaged cotton swabs into the shopping cart", "skill": "Place", "language_memory": "The robot has adjusted its posture and waist orientation, picked up blue packaged and bagged cotton swabs from the hook, and placed them into the shopping cart."}, {"start_frame": 2557, "end_frame": 2604, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot has adjusted its posture and waist orientation, picked up blue packaged and bagged cotton swabs from the hook, and placed them into the shopping cart."}, {"start_frame": 2604, "end_frame": 2747, "action_text": "place the reset position", "skill": "Place", "language_memory": "The robot adjusted its posture and rotated its waist to pick up blue packaged and bagged cotton swabs from the hook, then handed over the blue bag of cotton swabs and placed the blue packaged cotton swabs into the shopping cart."}], "detailed_task_instruction": ["Adjust your posture and rotate your waist to decrease your height, then bend over to pick up the blue packaged cotton swabs and the blue bagged cotton swabs from the hook. Place both items into the shopping cart. After adjusting your posture and rotating your waist again, pick up the blue bagged cotton swabs and hand them over. Finally, adjust your posture once more, rotate your waist, and return to the reset position."]}
{"task_id": "task_3404", "episode_index": 35, "video_path": "task_3404/videos/chunk-000/{video_key}/episode_000035.mp4", "tasks": ["Restocking the bagged toy."], "length": 2771, "action_config": [{"start_frame": 30, "end_frame": 80, "action_text": "decrease height", "skill": "AdjustPosture", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 80, "end_frame": 246, "action_text": "pick up the blue packaged cotton swabs from the hook", "skill": "Pick", "language_memory": "The robot has decreased the height."}, {"start_frame": 246, "end_frame": 474, "action_text": "pick up the blue bagged cotton swabs from the hook", "skill": "Pick", "language_memory": "The robot decreased its height and picked up the blue packaged cotton swabs from the hook."}, {"start_frame": 474, "end_frame": 528, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot decreased its height and picked up the blue packaged cotton swabs and the blue bagged cotton swabs from the hook."}, {"start_frame": 528, "end_frame": 801, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot decreased its height, picked up the blue packaged cotton swabs and the blue bagged cotton swabs from the hook, and adjusted its posture."}, {"start_frame": 801, "end_frame": 972, "action_text": "place the blue packaged cotton swabs into the shopping cart", "skill": "Place", "language_memory": "The robot decreased its height, picked up blue packaged and bagged cotton swabs from the hook, adjusted its posture, and bent over."}, {"start_frame": 972, "end_frame": 1130, "action_text": "place the blue packaged cotton swabs into the shopping cart", "skill": "Place", "language_memory": "The robot decreased its height, adjusted its posture, bent over, picked up blue packaged and bagged cotton swabs from the hook, and placed the blue packaged cotton swabs into the shopping cart."}, {"start_frame": 1130, "end_frame": 1164, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot decreased its height, adjusted its posture, bent over, and placed the blue packaged cotton swabs into the shopping cart."}, {"start_frame": 1164, "end_frame": 1318, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot decreased its height, picked up blue packaged and bagged cotton swabs from the hook, adjusted its posture, bent over, and placed the blue packaged cotton swabs into the shopping cart."}, {"start_frame": 1318, "end_frame": 1559, "action_text": "pick up the blue bagged cotton swabs from the hook", "skill": "Pick", "language_memory": "The robot decreased its height, picked up blue packaged and bagged cotton swabs from the hook, adjusted its posture, bent over, and placed the blue packaged cotton swabs into the shopping cart."}, {"start_frame": 1559, "end_frame": 1966, "action_text": "pick up the blue packaged cotton swabs from the hook", "skill": "Pick", "language_memory": "The robot decreased its height, adjusted its posture, bent over, and picked up blue packaged and bagged cotton swabs from the hook before placing the packaged swabs into the shopping cart."}, {"start_frame": 1966, "end_frame": 2043, "action_text": "decrease height", "skill": "AdjustPosture", "language_memory": "The robot decreased its height, adjusted its posture multiple times, bent over, and successfully picked up and placed two blue packaged cotton swabs and one blue bagged cotton swabs into the shopping cart."}, {"start_frame": 2043, "end_frame": 2181, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot decreased its height, adjusted its posture, picked up blue packaged and bagged cotton swabs from the hook, and placed the blue packaged cotton swabs into the shopping cart."}, {"start_frame": 2181, "end_frame": 2257, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot decreased its height, adjusted its posture, and rotated its waist to pick up blue packaged and bagged cotton swabs from the hook, subsequently placing the packaged items into the shopping cart."}, {"start_frame": 2257, "end_frame": 2414, "action_text": "place the blue packaged cotton swabs into the shopping cart", "skill": "Place", "language_memory": "The robot decreased its height, adjusted its posture, bent over, rotated its waist, and picked up blue packaged and bagged cotton swabs from the hook before placing the packaged swabs into the shopping cart."}, {"start_frame": 2414, "end_frame": 2568, "action_text": "place the blue packaged cotton swabs into the shopping cart", "skill": "Place", "language_memory": "The robot decreased its height, adjusted its posture, bent over, rotated its waist, and picked up multiple blue packaged and bagged cotton swabs from the hook before placing them into the shopping cart."}, {"start_frame": 2568, "end_frame": 2618, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot decreased its height, adjusted its posture, bent over, rotated its waist, and picked up multiple blue packaged and bagged cotton swabs from the hook before placing them into the shopping cart."}, {"start_frame": 2618, "end_frame": 2770, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot decreased its height, adjusted its posture, bent over, rotated its waist, and picked up multiple blue packaged and bagged cotton swabs from the hook before placing them into the shopping cart."}], "detailed_task_instruction": ["Adjust your posture and decrease your height to reach the hooks. Pick up the blue packaged cotton swabs and place them into the shopping cart. Next, pick up the blue bagged cotton swabs and place them into the shopping cart. Throughout the process, adjust your robot posture as needed, bend over, and rotate your waist to access the items and position yourself correctly for placing the products into the cart."]}
{"task_id": "task_3404", "episode_index": 36, "video_path": "task_3404/videos/chunk-000/{video_key}/episode_000036.mp4", "tasks": ["Restocking the bagged toy."], "length": 2837, "action_config": [{"start_frame": 45, "end_frame": 245, "action_text": "pick up the blue packaged cotton swabs from the hook", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 245, "end_frame": 508, "action_text": "pick up the blue packaged cotton swabs from the hook", "skill": "Pick", "language_memory": "The robot has picked up the blue packaged cotton swabs from the hook."}, {"start_frame": 508, "end_frame": 589, "action_text": "decrease height", "skill": "AdjustPosture", "language_memory": "The robot picked up the blue packaged cotton swabs from the hook."}, {"start_frame": 589, "end_frame": 870, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot picked up the blue packaged cotton swabs from the hook and decreased its height."}, {"start_frame": 870, "end_frame": 1090, "action_text": "place the blue packaged cotton swabs into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the blue packaged cotton swabs from the hook and adjusted its posture by decreasing height and bending over."}, {"start_frame": 1090, "end_frame": 1299, "action_text": "place the blue packaged cotton swabs into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the blue packaged cotton swabs from the hook and placed them into the shopping cart."}, {"start_frame": 1299, "end_frame": 1360, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot picked up blue packaged cotton swabs from a hook and placed them into the shopping cart."}, {"start_frame": 1360, "end_frame": 1530, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up blue packaged cotton swabs from a hook and placed them into the shopping cart."}, {"start_frame": 1530, "end_frame": 1787, "action_text": "pick up the blue packaged cotton swabs from the hook", "skill": "Pick", "language_memory": "The robot picked up blue packaged cotton swabs from a hook and placed them into the shopping cart."}, {"start_frame": 1787, "end_frame": 2016, "action_text": "pick up the blue packaged cotton swabs from the hook", "skill": "Pick", "language_memory": "The robot picked up blue packaged cotton swabs from a hook and placed them into the shopping cart."}, {"start_frame": 2016, "end_frame": 2069, "action_text": "decrease height", "skill": "AdjustPosture", "language_memory": "The robot picked up multiple blue packaged cotton swabs from the hook and placed them into the shopping cart."}, {"start_frame": 2069, "end_frame": 2245, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot successfully picked up multiple blue packaged cotton swabs from the hook and placed them into the shopping cart."}, {"start_frame": 2245, "end_frame": 2428, "action_text": "place the blue-packaged cotton swabs into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up multiple blue packaged cotton swabs from the hook and placed them into the shopping cart."}, {"start_frame": 2428, "end_frame": 2656, "action_text": "place the blue packaged cotton swabs into the shopping cart", "skill": "Place", "language_memory": "The robot successfully picked up multiple blue packaged cotton swabs from the hook and placed them into the shopping cart."}, {"start_frame": 2656, "end_frame": 2716, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot successfully picked up multiple blue packaged cotton swabs from the hook and placed them into the shopping cart."}, {"start_frame": 2716, "end_frame": 2836, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot successfully picked up multiple blue packaged cotton swabs from the hook and placed them into the shopping cart."}], "detailed_task_instruction": ["Restock the bagged toy by first adjusting your posture to decrease height and bend over, then pick up the blue packaged cotton swabs from the hook and place them into the shopping cart. Repeat this sequence of picking up the blue packaged cotton swabs from the hook and placing them into the shopping cart until all items are restocked, ensuring you adjust your robot posture and rotate your waist as needed between actions to maintain proper form."]}
{"task_id": "task_3404", "episode_index": 37, "video_path": "task_3404/videos/chunk-000/{video_key}/episode_000037.mp4", "tasks": ["Restocking the bagged toy."], "length": 3061, "action_config": [{"start_frame": 35, "end_frame": 119, "action_text": "decrease height", "skill": "AdjustPosture", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 119, "end_frame": 307, "action_text": "pick up the blue packaged cotton swabs from the hook", "skill": "Pick", "language_memory": "The robot has decreased the height."}, {"start_frame": 307, "end_frame": 575, "action_text": "pick up the blue bagged cotton swabs from the hook", "skill": "Pick", "language_memory": "The robot decreased its height and picked up the blue packaged cotton swabs from the hook."}, {"start_frame": 575, "end_frame": 658, "action_text": "decrease height", "skill": "AdjustPosture", "language_memory": "The robot decreased its height and picked up the blue packaged cotton swabs and the blue bagged cotton swabs from the hook."}, {"start_frame": 658, "end_frame": 802, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot decreased its height and picked up blue packaged cotton swabs and blue bagged cotton swabs from the hook."}, {"start_frame": 802, "end_frame": 900, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot decreased its height, picked up blue packaged cotton swabs and blue bagged cotton swabs from the hook, and rotated its waist."}, {"start_frame": 900, "end_frame": 1076, "action_text": "place the blue packaged cotton swabs into the shopping cart", "skill": "Place", "language_memory": "The robot decreased its height, picked up blue packaged and bagged cotton swabs from the hook, rotated its waist, and bent over."}, {"start_frame": 1076, "end_frame": 1357, "action_text": "place the blue packaged cotton swabs into the shopping cart", "skill": "Place", "language_memory": "The robot decreased its height, rotated its waist, bent over, picked up blue packaged and blue bagged cotton swabs from the hook, and placed the blue packaged cotton swabs into the shopping cart."}, {"start_frame": 1357, "end_frame": 1408, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot decreased its height, rotated its waist, and bent over to pick up blue packaged and blue bagged cotton swabs from a hook, subsequently placing both items into the shopping cart."}, {"start_frame": 1408, "end_frame": 1520, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot decreased its height, rotated its waist, and bent over to pick up blue packaged and blue bagged cotton swabs from a hook, subsequently placing both items into the shopping cart before adjusting its posture."}, {"start_frame": 1520, "end_frame": 1585, "action_text": "height increase", "skill": "AdjustPosture", "language_memory": "The robot decreased its height, picked up blue packaged and bagged cotton swabs from a hook, rotated its waist, bent over, placed the blue packaged cotton swabs into the shopping cart, adjusted its posture, and rotated its waist again."}, {"start_frame": 1585, "end_frame": 1810, "action_text": "pick up the blue packaged cotton swabs from the hook", "skill": "Pick", "language_memory": "The robot decreased its height, picked up blue packaged and bagged cotton swabs from a hook, placed the packaged swabs into a shopping cart, and adjusted its posture including waist rotation and height increase."}, {"start_frame": 1810, "end_frame": 2037, "action_text": "pick up the blue packaged cotton swabs from the hook", "skill": "Pick", "language_memory": "The robot decreased its height, rotated its waist, and bent over to pick up blue packaged cotton swabs from the hook, then adjusted its posture, increased its height, and placed the swabs into the shopping cart."}, {"start_frame": 2037, "end_frame": 2099, "action_text": "decrease height", "skill": "AdjustPosture", "language_memory": "The robot adjusted its posture, rotated its waist, and picked up multiple blue packaged cotton swabs from the hook before placing them into the shopping cart."}, {"start_frame": 2099, "end_frame": 2238, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot adjusted its posture, rotated its waist, and picked up multiple blue packaged cotton swabs from the hook before placing them into the shopping cart."}, {"start_frame": 2238, "end_frame": 2339, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot adjusted its posture, rotated its waist, and picked up multiple blue packaged cotton swabs from the hook before placing them into the shopping cart."}, {"start_frame": 2339, "end_frame": 2569, "action_text": "place the blue packaged cotton swabs into the shopping cart", "skill": "Place", "language_memory": "The robot adjusted its posture, rotated its waist, and picked up multiple blue packaged cotton swabs from the hook before placing them into the shopping cart."}, {"start_frame": 2569, "end_frame": 2926, "action_text": "place the blue packaged cotton swabs into the shopping cart", "skill": "Place", "language_memory": "The robot decreased its height, rotated its waist, and bent over to pick up multiple blue packaged cotton swabs from the hook, then adjusted its posture and increased its height before placing all the collected cotton swabs into the shopping cart."}, {"start_frame": 2926, "end_frame": 2962, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot has picked up multiple blue packaged cotton swabs from the hook and placed them into the shopping cart."}], "detailed_task_instruction": ["Restock the bagged toy by first adjusting your height and rotating your waist to reach the blue packaged cotton swabs on the hook. Bend over, pick up the blue packaged cotton swabs, and place them into the shopping cart. Adjust your posture, increase your height, and rotate your waist to access the blue bagged cotton swabs on the hook. Pick up the blue bagged cotton swabs and place them into the shopping cart. Finally, adjust your posture to complete the restocking process."]}
{"task_id": "task_3404", "episode_index": 38, "video_path": "task_3404/videos/chunk-000/{video_key}/episode_000038.mp4", "tasks": ["Restocking the bagged toy."], "length": 2978, "action_config": [{"start_frame": 40, "end_frame": 129, "action_text": "decrease height", "skill": "AdjustPosture", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 129, "end_frame": 332, "action_text": "pick up the blue bagged cotton swabs from the hook", "skill": "Pick", "language_memory": "The robot has decreased the height."}, {"start_frame": 332, "end_frame": 536, "action_text": "pick up the blue packaged cotton swabs from the hook", "skill": "Pick", "language_memory": "The robot decreased its height and picked up the blue bagged cotton swabs from the hook."}, {"start_frame": 536, "end_frame": 598, "action_text": "decrease height", "skill": "AdjustPosture", "language_memory": "The robot decreased its height and picked up the blue bagged and packaged cotton swabs from the hook."}, {"start_frame": 598, "end_frame": 861, "action_text": "bend down while rotating your waist", "skill": "AdjustPosture", "language_memory": "The robot decreased its height and picked up blue bagged and packaged cotton swabs from the hook."}, {"start_frame": 861, "end_frame": 1061, "action_text": "place the blue packaged cotton swabs into the shopping cart", "skill": "Place", "language_memory": "The robot decreased its height, picked up blue bagged and packaged cotton swabs from the hook, and bent down while rotating its waist."}, {"start_frame": 1061, "end_frame": 1319, "action_text": "place the blue packaged cotton swabs into the shopping cart", "skill": "Place", "language_memory": "The robot decreased its height, bent down while rotating its waist, picked up the blue bagged and packaged cotton swabs from the hook, and placed the packaged cotton swabs into the shopping cart."}, {"start_frame": 1319, "end_frame": 1365, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot decreased height, bent down while rotating its waist, picked up blue bagged and packaged cotton swabs from the hook, and placed the packaged cotton swabs into the shopping cart."}, {"start_frame": 1365, "end_frame": 1538, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot decreased its height, bent down while rotating its waist, picked up blue bagged and packaged cotton swabs from the hook, placed the packaged cotton swabs into the shopping cart, and adjusted its posture."}, {"start_frame": 1538, "end_frame": 1778, "action_text": "pick up the blue packaged cotton swabs from the hook", "skill": "Pick", "language_memory": "The robot decreased its height, bent down while rotating its waist, and placed the blue bagged and packaged cotton swabs into the shopping cart."}, {"start_frame": 1778, "end_frame": 1861, "action_text": "hand over the blue bag of cotton swabs", "skill": "Handover", "language_memory": "The robot decreased height, bent down while rotating its waist, adjusted its posture, and picked up multiple blue bagged and packaged cotton swabs from the hook, placing the packaged swabs into the shopping cart."}, {"start_frame": 1861, "end_frame": 2045, "action_text": "pick up the blue packaged cotton swabs from the hook", "skill": "Pick", "language_memory": "The robot decreased height, bent down while rotating its waist, adjusted its posture, and successfully picked up and handed over blue bagged and packaged cotton swabs from the hook."}, {"start_frame": 2045, "end_frame": 2106, "action_text": "decrease height", "skill": "AdjustPosture", "language_memory": "The robot has adjusted its posture, decreased height, bent down while rotating its waist, and successfully picked up and placed multiple blue packaged cotton swabs into the shopping cart, while also handing over a blue bag of cotton swabs."}, {"start_frame": 2106, "end_frame": 2414, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot has decreased its height, picked up multiple blue bagged and packaged cotton swabs from hooks, adjusted its posture, and placed some of the packaged cotton swabs into the shopping cart while handing over a blue bag of cotton swabs."}, {"start_frame": 2414, "end_frame": 2565, "action_text": "place the blue packaged cotton swabs into the shopping cart", "skill": "Place", "language_memory": "The robot has adjusted its posture, decreased height, and picked up multiple blue bagged and packaged cotton swabs from hooks, placing some into the shopping cart and handing over a blue bag of cotton swabs."}, {"start_frame": 2565, "end_frame": 2818, "action_text": "place the blue packaged cotton swabs into the shopping cart", "skill": "Place", "language_memory": "The robot has decreased its height, bent down, and rotated its waist to pick up multiple blue bagged and packaged cotton swabs from hooks, adjusted its posture, handed over a blue bag of cotton swabs, and placed the packaged cotton swabs into the shopping cart."}, {"start_frame": 2818, "end_frame": 2865, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot has decreased its height, bent down, and rotated its waist to pick up multiple blue bagged and packaged cotton swabs from hooks, then handed over a blue bag and placed the remaining packaged cotton swabs into the shopping cart."}], "detailed_task_instruction": ["Restock the bagged toy by first decreasing your height and bending down while rotating your waist to pick up the blue bagged cotton swabs from the hook, then handing them over. Next, decrease your height again, bend over, and adjust your robot posture to pick up the blue packaged cotton swabs from the hook. Place these blue packaged cotton swabs into the shopping cart. Finally, adjust your robot posture to complete the restocking process."]}
{"task_id": "task_3404", "episode_index": 39, "video_path": "task_3404/videos/chunk-000/{video_key}/episode_000039.mp4", "tasks": ["Restocking the bagged toy."], "length": 2965, "action_config": [{"start_frame": 35, "end_frame": 130, "action_text": "decrease height", "skill": "AdjustPosture", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 130, "end_frame": 297, "action_text": "pick up the blue packaged cotton swabs from the hook", "skill": "Pick", "language_memory": "The robot has decreased the height."}, {"start_frame": 297, "end_frame": 462, "action_text": "pick up the blue packaged cotton swabs from the hook", "skill": "Pick", "language_memory": "The robot decreased its height and picked up the blue packaged cotton swabs from the hook."}, {"start_frame": 462, "end_frame": 539, "action_text": "decrease height", "skill": "AdjustPosture", "language_memory": "The robot decreased its height and picked up the blue packaged cotton swabs from the hook."}, {"start_frame": 539, "end_frame": 778, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot decreased its height and picked up the blue packaged cotton swabs from the hook."}, {"start_frame": 778, "end_frame": 954, "action_text": "place the blue packaged cotton swabs into the shopping cart", "skill": "Place", "language_memory": "The robot decreased its height, picked up the blue packaged cotton swabs from the hook, and bent over."}, {"start_frame": 954, "end_frame": 1252, "action_text": "place the blue bagged cotton swabs into the shopping cart", "skill": "Place", "language_memory": "The robot decreased its height, bent over, picked up the blue packaged cotton swabs from the hook, and placed them into the shopping cart."}, {"start_frame": 1252, "end_frame": 1303, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot decreased its height, bent over, picked up blue packaged cotton swabs from a hook, and placed them into the shopping cart."}, {"start_frame": 1303, "end_frame": 1446, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot decreased its height, bent over, picked up blue packaged cotton swabs from a hook, and placed them into the shopping cart."}, {"start_frame": 1446, "end_frame": 1511, "action_text": "decrease height", "skill": "AdjustPosture", "language_memory": "The robot decreased its height, bent over, and adjusted its posture to pick up two blue packaged cotton swabs from a hook and place them into the shopping cart."}, {"start_frame": 1511, "end_frame": 1693, "action_text": "pick up the blue bagged cotton swabs from the hook", "skill": "Pick", "language_memory": "The robot decreased its height, bent over, and rotated its waist to pick up two blue packaged cotton swabs from a hook and place them into the shopping cart."}, {"start_frame": 1693, "end_frame": 1953, "action_text": "pick up the blue bagged cotton swabs from the hook", "skill": "Pick", "language_memory": "The robot decreased its height, bent over, and rotated its waist to pick up blue packaged cotton swabs and blue bagged cotton swabs from the hook, then placed them into the shopping cart."}, {"start_frame": 1953, "end_frame": 2017, "action_text": "decrease height", "skill": "AdjustPosture", "language_memory": "The robot decreased its height, bent over, and rotated its waist to pick up multiple blue packaged cotton swabs and blue bagged cotton swabs from hooks, subsequently placing all of them into the shopping cart."}, {"start_frame": 2017, "end_frame": 2272, "action_text": "bend the waist downward while rotating the waist", "skill": "AdjustPosture", "language_memory": "The robot decreased its height, bent over, and rotated its waist to pick up blue packaged cotton swabs and blue bagged cotton swabs from hooks, then placed them into the shopping cart."}, {"start_frame": 2272, "end_frame": 2482, "action_text": "place the blue packaged cotton swabs into the shopping cart", "skill": "Place", "language_memory": "The robot has decreased its height, bent over, and rotated its waist to pick up blue packaged cotton swabs and blue bagged cotton swabs from hooks, subsequently placing them into the shopping cart."}, {"start_frame": 2482, "end_frame": 2745, "action_text": "place the blue packaged cotton swabs into the shopping cart", "skill": "Place", "language_memory": "The robot has decreased its height, bent over, rotated its waist, and placed multiple blue packaged cotton swabs and blue bagged cotton swabs into the shopping cart."}, {"start_frame": 2745, "end_frame": 2803, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot has decreased its height multiple times, bent over, rotated its waist, and adjusted its posture to pick up blue packaged cotton swabs and blue bagged cotton swabs from hooks, subsequently placing all of them into the shopping cart."}, {"start_frame": 2803, "end_frame": 2964, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has decreased its height, bent over, rotated its waist, and adjusted its posture multiple times to pick up blue packaged cotton swabs and blue bagged cotton swabs from hooks, subsequently placing all of them into the shopping cart."}], "detailed_task_instruction": ["Adjust your posture and rotate your waist to decrease height, then bend over to pick up the blue packaged cotton swabs from the hook and place them into the shopping cart. Next, adjust your posture again, rotate your waist, and decrease height to bend the waist downward while rotating it to pick up the blue bagged cotton swabs from the hook. Finally, place the blue bagged cotton swabs into the shopping cart to complete the restocking of the bagged toy."]}
{"task_id": "task_3404", "episode_index": 40, "video_path": "task_3404/videos/chunk-000/{video_key}/episode_000040.mp4", "tasks": ["Restocking the bagged toy."], "length": 3272, "action_config": [{"start_frame": 40, "end_frame": 121, "action_text": "decrease height", "skill": "AdjustPosture", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 121, "end_frame": 432, "action_text": "pick up the blue bagged cotton swabs from the hook", "skill": "Pick", "language_memory": "The robot has decreased the height."}, {"start_frame": 432, "end_frame": 765, "action_text": "pick up the blue packaged cotton swabs from the hook", "skill": "Pick", "language_memory": "The robot decreased its height and picked up the blue bagged cotton swabs from the hook."}, {"start_frame": 765, "end_frame": 851, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot decreased its height and picked up the blue bagged and packaged cotton swabs from the hook."}, {"start_frame": 851, "end_frame": 1112, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot decreased its height, picked up the blue bagged cotton swabs and the blue packaged cotton swabs from the hook, and adjusted its posture."}, {"start_frame": 1112, "end_frame": 1334, "action_text": "place the blue packaged cotton swabs into the shopping cart", "skill": "Place", "language_memory": "The robot decreased its height, picked up blue bagged and packaged cotton swabs from the hook, adjusted its posture, and bent over."}, {"start_frame": 1334, "end_frame": 1556, "action_text": "place the blue packaged cotton swabs into the shopping cart", "skill": "Place", "language_memory": "The robot decreased its height, picked up blue bagged and packaged cotton swabs from the hook, adjusted its posture, bent over, and placed the packaged cotton swabs into the shopping cart."}, {"start_frame": 1556, "end_frame": 1614, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot decreased its height, adjusted its posture, bent over, picked up blue bagged and packaged cotton swabs from a hook, and placed the packaged cotton swabs into the shopping cart."}, {"start_frame": 1614, "end_frame": 1728, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot decreased its height, picked up blue bagged and packaged cotton swabs from a hook, adjusted its posture, bent over, and placed the packaged cotton swabs into the shopping cart."}, {"start_frame": 1728, "end_frame": 1827, "action_text": "rotate the waist upward", "skill": "Rotate", "language_memory": "The robot decreased its height, picked up blue bagged and packaged cotton swabs from a hook, adjusted its posture, bent over, placed the packaged cotton swabs into the shopping cart, and rotated its waist."}, {"start_frame": 1827, "end_frame": 1999, "action_text": "pick up the blue packaged cotton swabs from the hook", "skill": "Pick", "language_memory": "The robot decreased its height, picked up blue bagged and packaged cotton swabs from a hook, adjusted its posture, bent over, placed the packaged cotton swabs into the shopping cart, and rotated its waist."}, {"start_frame": 1999, "end_frame": 2230, "action_text": "pick up the blue packaged cotton swabs from the hook", "skill": "Pick", "language_memory": "The robot decreased its height, picked up blue bagged and packaged cotton swabs from the hook, adjusted its posture, bent over, and placed the blue packaged cotton swabs into the shopping cart."}, {"start_frame": 2230, "end_frame": 2298, "action_text": "decrease height", "skill": "AdjustPosture", "language_memory": "The robot adjusted its posture, bent over, and rotated its waist to pick up multiple blue packaged cotton swabs from the hook and place them into the shopping cart."}, {"start_frame": 2298, "end_frame": 2480, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot decreased its height, picked up multiple blue bagged and packaged cotton swabs from hooks, adjusted its posture, rotated its waist, and placed the blue packaged cotton swabs into the shopping cart."}, {"start_frame": 2480, "end_frame": 2612, "action_text": "bend your waist downward while rotating it", "skill": "AdjustPosture", "language_memory": "The robot adjusted its posture, decreased height, rotated its waist, and picked up multiple blue packaged cotton swabs from the hook before placing them into the shopping cart."}, {"start_frame": 2612, "end_frame": 2836, "action_text": "place the blue packaged cotton swabs into the shopping cart", "skill": "Place", "language_memory": "The robot adjusted its posture, decreased height, and rotated its waist to pick up multiple blue packaged cotton swabs from the hook and place them into the shopping cart."}, {"start_frame": 2836, "end_frame": 3057, "action_text": "place the blue packaged cotton swabs into the shopping cart", "skill": "Place", "language_memory": "The robot decreased its height, adjusted its posture, and rotated its waist to pick up multiple blue packaged cotton swabs from the hook and place them into the shopping cart."}, {"start_frame": 3057, "end_frame": 3107, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot adjusted its posture, decreased height, and rotated its waist to pick up multiple blue packaged cotton swabs from hooks and successfully placed them into the shopping cart."}], "detailed_task_instruction": ["Adjust your posture and decrease your height to reach the hooks. Pick up the blue bagged cotton swabs and the blue packaged cotton swabs from the hooks. Rotate your waist and bend downward as needed to access the items. Place the blue packaged cotton swabs into the shopping cart. Repeat the process of adjusting your posture, rotating your waist, bending down, picking up the blue packaged cotton swabs from the hooks, and placing them into the shopping cart until all items are restocked. Ensure you maintain proper body alignment throughout the task."]}
{"task_id": "task_3404", "episode_index": 41, "video_path": "task_3404/videos/chunk-000/{video_key}/episode_000041.mp4", "tasks": ["Restocking the bagged toy."], "length": 3053, "action_config": [{"start_frame": 45, "end_frame": 128, "action_text": "decrease height", "skill": "AdjustPosture", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 128, "end_frame": 293, "action_text": "pick up the blue packaged cotton swabs from the hook", "skill": "Pick", "language_memory": "The robot has decreased the height."}, {"start_frame": 293, "end_frame": 488, "action_text": "pick up the blue packaged cotton swabs from the hook", "skill": "Pick", "language_memory": "The robot decreased its height and picked up the blue packaged cotton swabs from the hook."}, {"start_frame": 488, "end_frame": 585, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot decreased its height and picked up the blue packaged cotton swabs from the hook."}, {"start_frame": 585, "end_frame": 896, "action_text": "rotate the torso", "skill": "Rotate", "language_memory": "The robot decreased its height, picked up the blue packaged cotton swabs from the hook, and adjusted its posture."}, {"start_frame": 896, "end_frame": 1085, "action_text": "place the blue bagged cotton swabs into the shopping cart", "skill": "Place", "language_memory": "The robot decreased its height, picked up the blue packaged cotton swabs from the hook, adjusted its posture, and rotated its torso."}, {"start_frame": 1085, "end_frame": 1314, "action_text": "place the blue packaged cotton swabs into the shopping cart", "skill": "Place", "language_memory": "The robot decreased its height, picked up the blue packaged cotton swabs from the hook, adjusted its posture, rotated its torso, and placed the blue bagged cotton swabs into the shopping cart."}, {"start_frame": 1314, "end_frame": 1367, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot decreased its height, picked up the blue packaged cotton swabs from the hook, adjusted its posture, rotated its torso, and placed the blue bagged cotton swabs into the shopping cart."}, {"start_frame": 1367, "end_frame": 1570, "action_text": "increase height", "skill": "AdjustPosture", "language_memory": "The robot picked up blue packaged cotton swabs from a hook and placed them into the shopping cart."}, {"start_frame": 1570, "end_frame": 1772, "action_text": "pick up the blue packaged cotton swabs from the hook", "skill": "Pick", "language_memory": "The robot picked up blue packaged cotton swabs from a hook and placed them into the shopping cart."}, {"start_frame": 1772, "end_frame": 2122, "action_text": "pick up the blue bagged cotton swabs from the hook", "skill": "Pick", "language_memory": "The robot picked up multiple blue packaged cotton swabs from the hook and placed them into the shopping cart."}, {"start_frame": 2122, "end_frame": 2215, "action_text": "decrease height", "skill": "AdjustPosture", "language_memory": "The robot picked up multiple blue packaged cotton swabs from the hook and placed them into the shopping cart."}, {"start_frame": 2215, "end_frame": 2449, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot picked up multiple blue packaged cotton swabs from the hook and placed them into the shopping cart."}, {"start_frame": 2449, "end_frame": 2654, "action_text": "place the blue packaged cotton swabs into the shopping cart", "skill": "Place", "language_memory": "The robot has adjusted its posture and height, picked up multiple blue packaged cotton swabs from the hook, and placed them into the shopping cart."}, {"start_frame": 2654, "end_frame": 2899, "action_text": "place the blue packaged cotton swabs into the shopping cart", "skill": "Place", "language_memory": "The robot picked up multiple blue packaged cotton swabs from the hook and placed them into the shopping cart."}, {"start_frame": 2899, "end_frame": 2946, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot successfully picked up multiple blue packaged cotton swabs from the hook and placed them into the shopping cart."}, {"start_frame": 2946, "end_frame": 3052, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot adjusted its posture and height, picked up multiple blue packaged cotton swabs from the hook, and placed them into the shopping cart."}], "detailed_task_instruction": ["Adjust your height and posture, then rotate your torso and waist to access the hooks. Pick up the blue packaged cotton swabs and the blue bagged cotton swabs from the hooks. After adjusting your posture again, place all the collected blue cotton swab items into the shopping cart."]}
{"task_id": "task_3404", "episode_index": 42, "video_path": "task_3404/videos/chunk-000/{video_key}/episode_000042.mp4", "tasks": ["Restocking the bagged toy."], "length": 2582, "action_config": [{"start_frame": 40, "end_frame": 117, "action_text": "decrease height", "skill": "AdjustPosture", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 117, "end_frame": 242, "action_text": "pick up the blue bagged cotton swabs from the hook", "skill": "Pick", "language_memory": "The robot has decreased the height."}, {"start_frame": 242, "end_frame": 377, "action_text": "pick up the blue packaged cotton swabs from the hook", "skill": "Pick", "language_memory": "The robot decreased its height and picked up the blue bagged cotton swabs from the hook."}, {"start_frame": 377, "end_frame": 441, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot decreased its height and picked up the blue bagged and packaged cotton swabs from the hook."}, {"start_frame": 441, "end_frame": 601, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot decreased its height, picked up the blue bagged cotton swabs and the blue packaged cotton swabs from the hook, and adjusted its posture."}, {"start_frame": 601, "end_frame": 684, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot decreased its height, picked up blue bagged and packaged cotton swabs from the hook, adjusted its posture, and rotated its waist."}, {"start_frame": 684, "end_frame": 843, "action_text": "place the blue bagged cotton swabs into the shopping cart", "skill": "Place", "language_memory": "The robot decreased its height, picked up blue bagged and packaged cotton swabs from the hook, adjusted its posture, rotated its waist, and bent over."}, {"start_frame": 843, "end_frame": 1043, "action_text": "place the blue packaged cotton swabs into the shopping cart", "skill": "Place", "language_memory": "The robot decreased its height, adjusted its posture, rotated its waist, and bent over to pick up blue bagged and packaged cotton swabs from a hook, subsequently placing the blue bagged cotton swabs into the shopping cart."}, {"start_frame": 1043, "end_frame": 1098, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot decreased its height, adjusted its posture, rotated its waist, and bent over to pick up blue bagged and packaged cotton swabs from a hook, subsequently placing both items into the shopping cart."}, {"start_frame": 1098, "end_frame": 1200, "action_text": "rotate the waist while lifting the body upward", "skill": "Rotate", "language_memory": "The robot decreased its height, picked up blue bagged and packaged cotton swabs from the hook, adjusted its posture, rotated its waist, bent over, and placed both items into the shopping cart."}, {"start_frame": 1200, "end_frame": 1242, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot has decreased its height, picked up blue bagged and packaged cotton swabs from the hook, and placed them into the shopping cart."}, {"start_frame": 1242, "end_frame": 1422, "action_text": "pick up the blue packaged cotton swabs from the hook", "skill": "Pick", "language_memory": "The robot picked up blue bagged and packaged cotton swabs from a hook and placed them into the shopping cart."}, {"start_frame": 1422, "end_frame": 1681, "action_text": "pick up the blue bagged cotton swabs from the hook", "skill": "Pick", "language_memory": "The robot has decreased its height, adjusted its posture, rotated its waist, and bent over to pick up and place multiple blue bagged and packaged cotton swabs into the shopping cart."}, {"start_frame": 1681, "end_frame": 1766, "action_text": "decrease height", "skill": "AdjustPosture", "language_memory": "The robot has picked up multiple blue bagged and packaged cotton swabs from hooks and placed them into the shopping cart."}, {"start_frame": 1766, "end_frame": 1899, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has decreased its height, picked up multiple blue bagged and packaged cotton swabs from hooks, adjusted its posture, rotated its waist, bent over, and placed the cotton swabs into the shopping cart."}, {"start_frame": 1899, "end_frame": 2007, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot has successfully picked up multiple blue bagged and packaged cotton swabs from hooks and placed them into the shopping cart, while adjusting its posture and rotating its waist throughout the process."}, {"start_frame": 2007, "end_frame": 2201, "action_text": "place the blue packaged cotton swabs into the shopping cart", "skill": "Place", "language_memory": "The robot has successfully picked up multiple blue bagged and packaged cotton swabs from hooks and placed them into the shopping cart, while adjusting its posture and rotating its waist throughout the process."}, {"start_frame": 2201, "end_frame": 2453, "action_text": "place the blue-packaged cotton swabs into the shopping cart", "skill": "Place", "language_memory": "The robot has decreased its height, rotated its waist, and bent over to pick up multiple blue bagged and packaged cotton swabs from hooks, subsequently placing them into the shopping cart."}, {"start_frame": 2453, "end_frame": 2501, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot has successfully retrieved multiple blue bagged and packaged cotton swabs from hooks and placed them into the shopping cart."}], "detailed_task_instruction": ["Adjust your posture and decrease your height, then rotate your waist and bend over to pick up the blue bagged cotton swabs and the blue packaged cotton swabs from the hook. Place both items into the shopping cart. Next, adjust your posture, rotate your waist while lifting your body upward, and bend over again to pick up the blue packaged cotton swabs and the blue bagged cotton swabs from the hook. Finally, place these items into the shopping cart and adjust your posture to complete the restocking of the bagged toys."]}
{"task_id": "task_3404", "episode_index": 43, "video_path": "task_3404/videos/chunk-000/{video_key}/episode_000043.mp4", "tasks": ["Restocking the bagged toy."], "length": 3019, "action_config": [{"start_frame": 50, "end_frame": 124, "action_text": "decrease height", "skill": "AdjustPosture", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 124, "end_frame": 286, "action_text": "pick up the blue packaged cotton swabs from the hook", "skill": "Pick", "language_memory": "The robot has decreased the height."}, {"start_frame": 286, "end_frame": 436, "action_text": "pick up the blue packaged cotton swabs from the hook", "skill": "Pick", "language_memory": "The robot decreased its height and picked up the blue packaged cotton swabs from the hook."}, {"start_frame": 436, "end_frame": 507, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot decreased its height and picked up the blue packaged cotton swabs from the hook."}, {"start_frame": 507, "end_frame": 785, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot decreased its height, picked up the blue packaged cotton swabs from the hook, and adjusted its posture."}, {"start_frame": 785, "end_frame": 963, "action_text": "place the blue packaged cotton swabs into the shopping cart", "skill": "Place", "language_memory": "The robot decreased its height, adjusted its posture, bent over, and picked up the blue packaged cotton swabs from the hook."}, {"start_frame": 963, "end_frame": 1221, "action_text": "place the blue packaged cotton swabs into the shopping cart", "skill": "Place", "language_memory": "The robot decreased its height, adjusted its posture, bent over, picked up the blue packaged cotton swabs from the hook, and placed them into the shopping cart."}, {"start_frame": 1221, "end_frame": 1260, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot decreased its height, adjusted its posture, bent over, picked up the blue packaged cotton swabs from the hook, and placed them into the shopping cart."}, {"start_frame": 1260, "end_frame": 1360, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot decreased its height, picked up blue packaged cotton swabs from a hook, adjusted its posture, bent over, and placed the cotton swabs into the shopping cart."}, {"start_frame": 1360, "end_frame": 1442, "action_text": "increase height", "skill": "AdjustPosture", "language_memory": "The robot decreased its height, picked up blue packaged cotton swabs from a hook, adjusted its posture, bent over, and placed the cotton swabs into the shopping cart."}, {"start_frame": 1442, "end_frame": 1677, "action_text": "pick up the blue packaged cotton swabs from the hook", "skill": "Pick", "language_memory": "The robot decreased its height, picked up blue packaged cotton swabs from a hook, adjusted its posture, bent over, placed the cotton swabs into a shopping cart, and then adjusted its posture, rotated its waist, and increased its height."}, {"start_frame": 1677, "end_frame": 1936, "action_text": "pick up the blue packaged cotton swabs from the hook", "skill": "Pick", "language_memory": "The robot picked up multiple blue packaged cotton swabs from the hook and placed them into the shopping cart."}, {"start_frame": 1936, "end_frame": 1991, "action_text": "decrease height", "skill": "AdjustPosture", "language_memory": "The robot picked up multiple blue packaged cotton swabs from the hook and placed them into the shopping cart."}, {"start_frame": 1991, "end_frame": 2123, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot decreased its height, picked up multiple blue packaged cotton swabs from the hook, adjusted its posture, bent over, placed the cotton swabs into the shopping cart, rotated its waist, and increased its height."}, {"start_frame": 2123, "end_frame": 2246, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up multiple blue packaged cotton swabs from the hook and placed them into the shopping cart."}, {"start_frame": 2246, "end_frame": 2539, "action_text": "place the blue packaged cotton swabs into the shopping cart", "skill": "Place", "language_memory": "The robot picked up multiple blue packaged cotton swabs from the hook and placed them into the shopping cart."}, {"start_frame": 2539, "end_frame": 2740, "action_text": "place the blue packaged cotton swabs into the shopping cart", "skill": "Place", "language_memory": "The robot successfully picked up multiple blue packaged cotton swabs from the hook and placed them into the shopping cart."}, {"start_frame": 2740, "end_frame": 2850, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot successfully picked up multiple blue packaged cotton swabs from the hook and placed them into the shopping cart."}, {"start_frame": 2850, "end_frame": 3018, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot successfully picked up multiple blue packaged cotton swabs from the hook and placed them into the shopping cart while adjusting its posture and orientation."}], "detailed_task_instruction": ["Adjust your posture and decrease your height to reach the hook. Pick up the blue packaged cotton swabs, rotate your waist, and place the item into the shopping cart. Repeat this sequence of picking up the blue packaged cotton swabs from the hook, adjusting your posture, rotating your waist, and placing the item into the shopping cart for all available packages. Once all items are secured in the cart, increase your height and return to your standard standing posture."]}
{"task_id": "task_3404", "episode_index": 44, "video_path": "task_3404/videos/chunk-000/{video_key}/episode_000044.mp4", "tasks": ["Restocking the bagged toy."], "length": 2652, "action_config": [{"start_frame": 80, "end_frame": 154, "action_text": "decrease height", "skill": "AdjustPosture", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 154, "end_frame": 315, "action_text": "pick up the blue packaged cotton swabs from the hook", "skill": "Pick", "language_memory": "The robot has decreased the height."}, {"start_frame": 315, "end_frame": 460, "action_text": "pick up the blue packaged cotton swabs from the hook", "skill": "Pick", "language_memory": "The robot decreased its height and picked up the blue packaged cotton swabs from the hook."}, {"start_frame": 460, "end_frame": 527, "action_text": "decrease height", "skill": "AdjustPosture", "language_memory": "The robot decreased its height and picked up the blue packaged cotton swabs from the hook."}, {"start_frame": 527, "end_frame": 670, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot decreased its height and picked up the blue packaged cotton swabs from the hook."}, {"start_frame": 670, "end_frame": 757, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot decreased its height, picked up the blue packaged cotton swabs from the hook, and rotated its waist."}, {"start_frame": 757, "end_frame": 957, "action_text": "place the blue packaged cotton swabs into the shopping cart", "skill": "Place", "language_memory": "The robot decreased its height, picked up the blue packaged cotton swabs from the hook, rotated its waist, and bent over."}, {"start_frame": 957, "end_frame": 1162, "action_text": "place the blue packaged cotton swabs into the shopping cart", "skill": "Place", "language_memory": "The robot decreased its height, rotated its waist, bent over, picked up the blue packaged cotton swabs from the hook, and placed them into the shopping cart."}, {"start_frame": 1162, "end_frame": 1217, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot decreased its height, rotated its waist, bent over, picked up the blue packaged cotton swabs from the hook, and placed them into the shopping cart."}, {"start_frame": 1217, "end_frame": 1377, "action_text": "increase height", "skill": "AdjustPosture", "language_memory": "The robot decreased its height, picked up blue packaged cotton swabs from a hook, rotated its waist, bent over, and placed the cotton swabs into the shopping cart before adjusting its posture."}, {"start_frame": 1377, "end_frame": 1560, "action_text": "pick up the blue packaged cotton swabs from the hook", "skill": "Pick", "language_memory": "The robot decreased its height, picked up blue packaged cotton swabs from a hook, rotated its waist, bent over, placed the cotton swabs into a shopping cart, adjusted its posture, and increased its height."}, {"start_frame": 1560, "end_frame": 1636, "action_text": "hand over the blue bag of cotton swabs", "skill": "Handover", "language_memory": "The robot decreased its height, rotated its waist, bent over, and adjusted its posture to pick up multiple blue packaged cotton swabs from a hook and place them into a shopping cart."}, {"start_frame": 1636, "end_frame": 1837, "action_text": "pick up the blue packaged cotton swabs from the hook", "skill": "Pick", "language_memory": "The robot decreased its height, picked up blue packaged cotton swabs from the hook, rotated its waist, bent over, and placed the cotton swabs into the shopping cart before adjusting its posture, increasing its height, and handing over the blue bag of cotton swabs."}, {"start_frame": 1837, "end_frame": 1881, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot has decreased height, rotated its waist, bent over, adjusted its posture, and increased height to pick up multiple blue packaged cotton swabs from the hook, placing some into the shopping cart and handing over one blue bag of cotton swabs."}, {"start_frame": 1881, "end_frame": 2121, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot successfully picked up multiple blue packaged cotton swabs from the hook and placed them into the shopping cart, while adjusting its posture and height throughout the process."}, {"start_frame": 2121, "end_frame": 2293, "action_text": "place the blue packaged cotton swabs into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up multiple blue packaged cotton swabs from the hook and placed them into the shopping cart, while adjusting its posture and height throughout the process."}, {"start_frame": 2293, "end_frame": 2518, "action_text": "place the blue packaged cotton swabs into the shopping cart", "skill": "Place", "language_memory": "The robot repeatedly adjusted its posture, decreased and increased height, rotated its waist, and bent over to pick up multiple blue packaged cotton swabs from a hook and place them into a shopping cart."}, {"start_frame": 2518, "end_frame": 2555, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot successfully picked up multiple blue packaged cotton swabs from the hook and placed them into the shopping cart."}], "detailed_task_instruction": ["Restock the bagged toy by first adjusting your posture to decrease height, bending over, and rotating your waist to pick up the blue packaged cotton swabs from the hook. Place the item into the shopping cart and adjust your robot posture. Increase your height, then bend over again to pick up another blue packaged cotton swab from the hook and place it into the shopping cart. Adjust your posture once more, decrease height, bend over, and rotate your waist to pick up a third blue packaged cotton swab from the hook. Finally, place this item into the shopping cart, adjust your posture, and hand over the blue bag of cotton swabs to complete the restocking process."]}
{"task_id": "task_3404", "episode_index": 45, "video_path": "task_3404/videos/chunk-000/{video_key}/episode_000045.mp4", "tasks": ["Restocking the bagged toy."], "length": 2702, "action_config": [{"start_frame": 30, "end_frame": 107, "action_text": "decrease height", "skill": "AdjustPosture", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 107, "end_frame": 297, "action_text": "pick up the blue packaged cotton swabs from the hook", "skill": "Pick", "language_memory": "The robot has decreased the height."}, {"start_frame": 297, "end_frame": 446, "action_text": "pick up the blue packaged cotton swabs from the hook", "skill": "Pick", "language_memory": "The robot decreased its height and picked up the blue packaged cotton swabs from the hook."}, {"start_frame": 446, "end_frame": 544, "action_text": "decrease height", "skill": "AdjustPosture", "language_memory": "The robot decreased its height and picked up the blue packaged cotton swabs from the hook."}, {"start_frame": 544, "end_frame": 769, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot decreased its height and picked up the blue packaged cotton swabs from the hook."}, {"start_frame": 769, "end_frame": 971, "action_text": "place the blue bagged cotton swabs into the shopping cart", "skill": "Place", "language_memory": "The robot decreased its height, picked up the blue packaged cotton swabs from the hook, and bent over."}, {"start_frame": 971, "end_frame": 1237, "action_text": "place the blue packaged cotton swabs into the shopping cart", "skill": "Place", "language_memory": "The robot decreased its height, bent over, picked up the blue packaged cotton swabs from the hook, and placed them into the shopping cart."}, {"start_frame": 1237, "end_frame": 1278, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot decreased its height, bent over, picked up the blue packaged cotton swabs from the hook, and placed them into the shopping cart."}, {"start_frame": 1278, "end_frame": 1636, "action_text": "pick up the blue packaged cotton swabs from the hook", "skill": "Pick", "language_memory": "The robot decreased its height, bent over, picked up the blue packaged cotton swabs from the hook, and placed them into the shopping cart before adjusting its posture."}, {"start_frame": 1636, "end_frame": 1776, "action_text": "pick up the blue packaged cotton swabs from the hook", "skill": "Pick", "language_memory": "The robot decreased its height, bent over, adjusted its posture, and successfully picked up and placed multiple blue packaged cotton swabs from the hook into the shopping cart."}, {"start_frame": 1776, "end_frame": 1861, "action_text": "decrease height", "skill": "AdjustPosture", "language_memory": "The robot picked up multiple blue packaged cotton swabs from the hook and placed them into the shopping cart."}, {"start_frame": 1861, "end_frame": 2115, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot picked up multiple blue packaged cotton swabs from the hook and placed them into the shopping cart."}, {"start_frame": 2115, "end_frame": 2317, "action_text": "place the blue packaged cotton swabs into the shopping cart", "skill": "Place", "language_memory": "The robot decreased its height, bent over, and picked up multiple blue packaged cotton swabs from the hook before placing them into the shopping cart and adjusting its posture."}, {"start_frame": 2317, "end_frame": 2546, "action_text": "place the blue packaged cotton swabs into the shopping cart", "skill": "Place", "language_memory": "The robot successfully picked up multiple blue packaged cotton swabs from the hook and placed them into the shopping cart."}, {"start_frame": 2546, "end_frame": 2591, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot successfully picked up multiple blue packaged cotton swabs from the hook and placed them into the shopping cart."}], "detailed_task_instruction": ["Adjust your posture to a lower height and bend over to reach the hook. Pick up the blue packaged cotton swabs from the hook and place them into the shopping cart. Repeat this sequence of picking up the blue packaged cotton swabs from the hook and placing them into the shopping cart until all items are restocked. Throughout the process, adjust your robot posture as needed to maintain the correct height for reaching the hook and placing items in the cart."]}
{"task_id": "task_3404", "episode_index": 46, "video_path": "task_3404/videos/chunk-000/{video_key}/episode_000046.mp4", "tasks": ["Restocking the bagged toy."], "length": 3024, "action_config": [{"start_frame": 51, "end_frame": 124, "action_text": "decrease height", "skill": "AdjustPosture", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 124, "end_frame": 297, "action_text": "pick up the blue bagged cotton swabs from the hook", "skill": "Pick", "language_memory": "The robot has decreased the height."}, {"start_frame": 297, "end_frame": 423, "action_text": "pick up the blue packaged cotton swabs from the hook", "skill": "Pick", "language_memory": "The robot decreased its height and picked up the blue bagged cotton swabs from the hook."}, {"start_frame": 423, "end_frame": 499, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot decreased its height and picked up the blue bagged and packaged cotton swabs from the hook."}, {"start_frame": 499, "end_frame": 739, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot decreased its height, picked up the blue bagged cotton swabs and the blue packaged cotton swabs from the hook, and adjusted its posture."}, {"start_frame": 739, "end_frame": 972, "action_text": "place the blue bagged cotton swabs into the shopping cart", "skill": "Place", "language_memory": "The robot decreased its height, picked up blue bagged and packaged cotton swabs from the hook, adjusted its posture, and bent over."}, {"start_frame": 972, "end_frame": 1244, "action_text": "place the blue packaged cotton swabs into the shopping cart", "skill": "Place", "language_memory": "The robot decreased its height, picked up blue bagged and packaged cotton swabs from the hook, adjusted its posture, bent over, and placed the blue bagged cotton swabs into the shopping cart."}, {"start_frame": 1244, "end_frame": 1278, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot decreased its height, adjusted its posture, bent over, picked up blue bagged and packaged cotton swabs from the hook, and placed them into the shopping cart."}, {"start_frame": 1278, "end_frame": 1795, "action_text": "pick up the blue packaged cotton swabs from the hook", "skill": "Pick", "language_memory": "The robot decreased its height, picked up blue bagged and packaged cotton swabs from the hook, adjusted its posture, bent over, and placed the cotton swabs into the shopping cart."}, {"start_frame": 1795, "end_frame": 1967, "action_text": "pick up the blue packaged cotton swabs from the hook", "skill": "Pick", "language_memory": "The robot decreased its height, adjusted its posture, bent over, and placed multiple blue bagged and packaged cotton swabs into the shopping cart."}, {"start_frame": 1967, "end_frame": 2036, "action_text": "rotate the waist while lowering the body", "skill": "Rotate", "language_memory": "The robot decreased its height, adjusted its posture, bent over, and placed multiple blue bagged and packaged cotton swabs into the shopping cart."}, {"start_frame": 2036, "end_frame": 2301, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot has decreased its height, adjusted its posture, bent over, and rotated its waist while lowering its body to pick up multiple blue bagged and packaged cotton swabs from hooks, subsequently placing all of them into the shopping cart."}, {"start_frame": 2301, "end_frame": 2548, "action_text": "place the blue packaged cotton swabs into the shopping cart", "skill": "Place", "language_memory": "The robot has decreased its height, adjusted its posture multiple times, bent over, rotated its waist while lowering its body, and successfully placed two blue bagged cotton swabs and two blue packaged cotton swabs into the shopping cart."}, {"start_frame": 2548, "end_frame": 2797, "action_text": "place the blue packaged cotton swabs into the shopping cart", "skill": "Place", "language_memory": "The robot has decreased its height, adjusted its posture multiple times, bent over, rotated its waist while lowering its body, and successfully picked up and placed several blue bagged and packaged cotton swabs into the shopping cart."}, {"start_frame": 2797, "end_frame": 2856, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot has decreased its height, adjusted its posture multiple times, bent over, rotated its waist while lowering its body, and successfully picked up and placed multiple blue bagged and packaged cotton swabs into the shopping cart."}], "detailed_task_instruction": ["Adjust your posture and bend over to decrease your height. Pick up the blue bagged cotton swabs and the blue packaged cotton swabs from the hook, then place both items into the shopping cart. Rotate your waist while lowering your body, bend over again, and pick up additional blue packaged cotton swabs from the hook. Place these remaining blue packaged cotton swabs into the shopping cart. Finally, adjust your robot posture to complete the restocking of the bagged and packaged cotton swabs."]}
{"task_id": "task_3404", "episode_index": 47, "video_path": "task_3404/videos/chunk-000/{video_key}/episode_000047.mp4", "tasks": ["Restocking the bagged toy."], "length": 3462, "action_config": [{"start_frame": 50, "end_frame": 113, "action_text": "increase height", "skill": "AdjustPosture", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 113, "end_frame": 457, "action_text": "pick up the white transparent hook", "skill": "Pick", "language_memory": "The robot has increased its height."}, {"start_frame": 457, "end_frame": 712, "action_text": "pick up the white 2-piece bear hook set from the hook", "skill": "Pick", "language_memory": "The robot increased its height and picked up the white transparent hook."}, {"start_frame": 712, "end_frame": 827, "action_text": "decrease height", "skill": "AdjustPosture", "language_memory": "The robot increased its height, picked up the white transparent hook, and retrieved the white 2-piece bear hook set from the hook."}, {"start_frame": 827, "end_frame": 1099, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot increased its height, picked up the white transparent hook and the white 2-piece bear hook set from the hook, and then decreased its height."}, {"start_frame": 1099, "end_frame": 1334, "action_text": "place the white transparent hook set into the shopping cart", "skill": "Place", "language_memory": "The robot increased its height, picked up the white transparent hook and the white 2-piece bear hook set, decreased its height, and bent over."}, {"start_frame": 1334, "end_frame": 1746, "action_text": "place the two white bear hooks into the shopping cart", "skill": "Place", "language_memory": "The robot increased its height, picked up the white transparent hook and the white 2-piece bear hook set from the hook, decreased its height, bent over, and placed the white transparent hook set into the shopping cart."}, {"start_frame": 1746, "end_frame": 1778, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot increased its height, picked up a white transparent hook and a white 2-piece bear hook set from the hook, decreased its height, bent over, and placed both the white transparent hook set and the two white bear hooks into the shopping cart."}, {"start_frame": 1778, "end_frame": 2146, "action_text": "pick up the white 4-piece hook set on the hook", "skill": "Pick", "language_memory": "The robot increased its height, picked up the white transparent hook and the white 2-piece bear hook set, decreased its height, bent over, and placed both hook sets into the shopping cart before adjusting its posture."}, {"start_frame": 2146, "end_frame": 2362, "action_text": "pick up the gray triple hook from the hanger", "skill": "Pick", "language_memory": "The robot increased and decreased its height, bent over, adjusted its posture, picked up the white transparent hook and the white 2-piece bear hook set from the hook, placed both into the shopping cart, and picked up the white 4-piece hook set on the hook."}, {"start_frame": 2362, "end_frame": 2578, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot increased and decreased its height, bent over, and adjusted its posture to pick up and place the white transparent hook, white 2-piece bear hook set, white 4-piece hook set, and gray triple hook into the shopping cart."}, {"start_frame": 2578, "end_frame": 2701, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot increased and decreased its height, bent over, adjusted its posture, and rotated its waist to pick up and place the white transparent hook, white 2-piece bear hook set, white 4-piece hook set, and gray triple hook into the shopping cart."}, {"start_frame": 2701, "end_frame": 2936, "action_text": "place the white four-pronged hook into the shopping cart", "skill": "Place", "language_memory": "The robot increased and decreased its height, bent over, adjusted its posture, and rotated its waist to pick up and place the white transparent hook, white 2-piece bear hook set, white 4-piece hook set, and gray triple hook into the shopping cart."}, {"start_frame": 2936, "end_frame": 3208, "action_text": "place the gray three-slot hook into the shopping cart", "skill": "Place", "language_memory": "The robot increased and decreased its height, adjusted its posture, and rotated its waist to pick up and place the white transparent hook, white 2-piece bear hook set, white 4-piece hook set, and gray triple hook into the shopping cart."}, {"start_frame": 3208, "end_frame": 3261, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot has increased and decreased its height, adjusted its posture, and rotated its waist while bending over to pick up and place multiple hook sets—including white transparent, white bear, white four-pronged, and gray triple hooks—into the shopping cart."}], "detailed_task_instruction": ["Restock the bagged toys by first increasing the height, then picking up the white transparent hook and the white 2-piece bear hook set from the hook before decreasing the height and bending over to place both items into the shopping cart. Adjust the robot posture, rotate the waist, and bend over again to pick up the white 4-piece hook set and the gray triple hook from their respective hooks. Finally, adjust the robot posture once more and place the white four-pronged hook and the gray three-slot hook into the shopping cart to complete the restocking process."]}
{"task_id": "task_3404", "episode_index": 48, "video_path": "task_3404/videos/chunk-000/{video_key}/episode_000048.mp4", "tasks": ["Restocking the bagged toy."], "length": 4905, "action_config": [{"start_frame": 66, "end_frame": 420, "action_text": "pick up the green 3-piece smiley hook set on the hook", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 420, "end_frame": 726, "action_text": "pick up the gray 3-piece hook set on the hook", "skill": "Pick", "language_memory": "The robot picked up the green 3-piece smiley hook set from the hook."}, {"start_frame": 726, "end_frame": 810, "action_text": "decrease height", "skill": "AdjustPosture", "language_memory": "The robot has picked up the green and gray 3-piece hook sets from the hook."}, {"start_frame": 810, "end_frame": 1051, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot picked up the green and gray 3-piece hook sets from the hook and decreased its height."}, {"start_frame": 1051, "end_frame": 1286, "action_text": "place the gray 3-piece hook set into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the green and gray 3-piece hook sets from the hook and adjusted its posture by decreasing height and bending over."}, {"start_frame": 1286, "end_frame": 1532, "action_text": "place the green three-slot smiley hook into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the green and gray 3-piece hook sets from the hook, adjusted its posture by decreasing height and bending over, and placed the gray hook set into the shopping cart."}, {"start_frame": 1532, "end_frame": 1588, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot picked up the green and gray hook sets from the hook, adjusted its posture by decreasing height and bending over, and placed both hook sets into the shopping cart."}, {"start_frame": 1588, "end_frame": 1760, "action_text": "increase height", "skill": "AdjustPosture", "language_memory": "The robot picked up the green and gray hook sets from the hook, adjusted its posture, and placed both sets into the shopping cart."}, {"start_frame": 1760, "end_frame": 2045, "action_text": "pick up the white 2-piece bear hook set on the hook", "skill": "Pick", "language_memory": "The robot picked up the green and gray hook sets from the hook, adjusted its posture, and placed both sets into the shopping cart."}, {"start_frame": 2045, "end_frame": 2484, "action_text": "pick up the white transparent hook from the hanger", "skill": "Pick", "language_memory": "The robot picked up the green and gray hook sets from the hook, adjusted its posture, and placed both sets into the shopping cart before picking up the white bear hook set."}, {"start_frame": 2484, "end_frame": 2545, "action_text": "decrease height", "skill": "AdjustPosture", "language_memory": "The robot picked up the green 3-piece smiley hook set, the gray 3-piece hook set, the white 2-piece bear hook set, and the white transparent hook, then placed the gray and green hook sets into the shopping cart while adjusting its posture and height."}, {"start_frame": 2545, "end_frame": 2656, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up and placed multiple hook sets (green smiley, gray, white bear, and white transparent) into the shopping cart while adjusting its height and posture."}, {"start_frame": 2656, "end_frame": 2779, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the green smiley hook set, gray hook set, white bear hook set, and white transparent hook, then placed the gray and green hook sets into the shopping cart while adjusting its posture and height."}, {"start_frame": 2779, "end_frame": 3020, "action_text": "place the two white bear-shaped hooks into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the green smiley hook set, gray hook set, white bear hook set, and white transparent hook, then placed the gray and green hook sets into the shopping cart while adjusting its posture and height."}, {"start_frame": 3020, "end_frame": 3277, "action_text": "place the white transparent hook into the shopping cart", "skill": "Place", "language_memory": "The robot picked up multiple hook sets from the hook and hanger, adjusted its posture, and placed all retrieved items into the shopping cart."}, {"start_frame": 3277, "end_frame": 3318, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot has successfully picked up and placed multiple hook sets, including green smiley, gray, white bear, and white transparent hooks, into the shopping cart while adjusting its posture and height."}, {"start_frame": 3318, "end_frame": 3430, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot successfully retrieved and placed multiple hook sets, including green smiley, gray, white bear, and white transparent hooks, into the shopping cart while adjusting its posture and height throughout the process."}, {"start_frame": 3430, "end_frame": 3479, "action_text": "increase height", "skill": "AdjustPosture", "language_memory": "The robot successfully retrieved and placed multiple hook sets, including green smiley, gray, white bear, and white transparent hooks, into the shopping cart while adjusting its posture and orientation throughout the process."}, {"start_frame": 3479, "end_frame": 3720, "action_text": "pick up the white 2-piece bear hook set on the hook", "skill": "Pick", "language_memory": "The robot has successfully retrieved and placed multiple hook sets, including green smiley, gray, white bear, and white transparent hooks, into the shopping cart while adjusting its posture and height throughout the process."}, {"start_frame": 3720, "end_frame": 3955, "action_text": "pick up the white 2-piece bear hook set from the hook", "skill": "Pick", "language_memory": "The robot has successfully restocked the shopping cart with multiple hook sets, including green smiley, gray, white bear, and white transparent hooks, while adjusting its posture and height throughout the process."}, {"start_frame": 3955, "end_frame": 4038, "action_text": "decrease height", "skill": "AdjustPosture", "language_memory": "The robot successfully picked up and placed multiple hook sets, including green smiley, gray, white bear, and white transparent hooks, into the shopping cart while adjusting its posture and height throughout the process."}, {"start_frame": 4038, "end_frame": 4273, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot has successfully retrieved multiple hook sets, including green smiley, gray, and white bear-shaped hooks, and placed them into the shopping cart while adjusting its posture and height throughout the process."}, {"start_frame": 4273, "end_frame": 4482, "action_text": "place the two white bear-shaped hooks into the shopping cart", "skill": "Place", "language_memory": "The robot has successfully retrieved multiple hook sets, including green smiley, gray, and white bear-shaped hooks, and placed them into the shopping cart while adjusting its posture and height throughout the process."}, {"start_frame": 4482, "end_frame": 4728, "action_text": "place the two white bear-shaped hooks into the shopping cart", "skill": "Place", "language_memory": "The robot successfully retrieved multiple hook sets, including green smiley, gray, and white bear-shaped hooks, from hooks and hangers, and placed them into the shopping cart while adjusting its posture and height as needed."}, {"start_frame": 4728, "end_frame": 4769, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot successfully retrieved multiple hook sets, including green smiley, gray, and white bear-shaped hooks, from hooks and hangers, adjusted its posture and height as needed, and placed all collected items into the shopping cart."}], "detailed_task_instruction": ["Restock the bagged toys by first picking up the green 3-piece smiley hook set and the gray 3-piece hook set from their respective hooks, then placing both into the shopping cart. Next, retrieve the white 2-piece bear hook set, the white transparent hook from the hanger, and another white 2-piece bear hook set from the hooks. Place all these items—the two bear sets and the transparent hook—into the shopping cart. Throughout the process, adjust your posture, bend over, decrease and increase height, and rotate your waist as needed to reach the items and position yourself correctly for placing them in the cart."]}
{"task_id": "task_3404", "episode_index": 49, "video_path": "task_3404/videos/chunk-000/{video_key}/episode_000049.mp4", "tasks": ["Restocking the bagged toy."], "length": 4534, "action_config": [{"start_frame": 35, "end_frame": 94, "action_text": "decrease height", "skill": "AdjustPosture", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 94, "end_frame": 265, "action_text": "pick up the pink 3-piece hook set on the hook", "skill": "Pick", "language_memory": "The robot has decreased the height."}, {"start_frame": 265, "end_frame": 535, "action_text": "pick up the white 4-piece hook set on the hook", "skill": "Pick", "language_memory": "The robot decreased its height and picked up the pink 3-piece hook set from the hook."}, {"start_frame": 535, "end_frame": 615, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot decreased its height and picked up the pink and white hook sets from the hook."}, {"start_frame": 615, "end_frame": 762, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot decreased its height, picked up the pink 3-piece hook set and the white 4-piece hook set from the hook, and adjusted its posture."}, {"start_frame": 762, "end_frame": 882, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot decreased its height, picked up the pink and white hook sets from the hook, adjusted its posture, and rotated its waist."}, {"start_frame": 882, "end_frame": 1062, "action_text": "place the pink triple hook into the shopping cart", "skill": "Place", "language_memory": "The robot decreased its height, picked up the pink and white hook sets from the hook, adjusted its posture, rotated its waist, and bent over."}, {"start_frame": 1062, "end_frame": 1306, "action_text": "place the white four-prong hook into the shopping cart", "skill": "Place", "language_memory": "The robot decreased its height, picked up the pink and white hook sets from the hook, adjusted its posture, rotated its waist, bent over, and placed the pink triple hook into the shopping cart."}, {"start_frame": 1306, "end_frame": 1365, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot decreased its height, adjusted its posture, rotated its waist, and bent over to pick up the pink 3-piece hook set and the white 4-piece hook set from the hook, subsequently placing both hook sets into the shopping cart."}, {"start_frame": 1365, "end_frame": 1477, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot decreased its height, picked up the pink and white hook sets from the hook, adjusted its posture, rotated its waist, bent over, and placed both hook sets into the shopping cart."}, {"start_frame": 1477, "end_frame": 1554, "action_text": "decrease height", "skill": "AdjustPosture", "language_memory": "The robot decreased its height, picked up the pink and white hook sets from the hook, adjusted its posture, rotated its waist, bent over, and placed both hook sets into the shopping cart."}, {"start_frame": 1554, "end_frame": 1739, "action_text": "pick up the pink triple hook from the hanger", "skill": "Pick", "language_memory": "The robot decreased its height, picked up the pink and white hook sets from the hook, adjusted its posture and rotated its waist, placed both hook sets into the shopping cart, and then adjusted its posture and decreased its height again."}, {"start_frame": 1739, "end_frame": 1889, "action_text": "pick up the white transparent hook", "skill": "Pick", "language_memory": "The robot decreased its height, picked up and placed the pink and white hook sets into the shopping cart, adjusted its posture, rotated its waist, and picked up the pink triple hook from the hanger."}, {"start_frame": 1889, "end_frame": 1973, "action_text": "decrease height", "skill": "AdjustPosture", "language_memory": "The robot decreased its height, picked up and placed the pink triple hook and white four-prong hook into the shopping cart, adjusted its posture, rotated its waist, and picked up the pink triple hook from the hanger and the white transparent hook."}, {"start_frame": 1973, "end_frame": 2082, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot decreased its height, picked up and placed the pink triple hook and white four-prong hook into the shopping cart, adjusted its posture, rotated its waist, and picked up the pink triple hook from the hanger and the white transparent hook."}, {"start_frame": 2082, "end_frame": 2189, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot decreased its height, picked up and placed the pink triple hook and white four-prong hook into the shopping cart, and then picked up the pink triple hook and white transparent hook from the hanger."}, {"start_frame": 2189, "end_frame": 2405, "action_text": "place the three pink hooks into the shopping cart", "skill": "Place", "language_memory": "The robot decreased its height, picked up and placed the pink triple hook and white four-prong hook into the shopping cart, and then picked up the pink triple hook and white transparent hook from the hanger."}, {"start_frame": 2405, "end_frame": 2642, "action_text": "place the white transparent hook into the shopping cart", "skill": "Place", "language_memory": "The robot decreased its height, rotated its waist, and bent over to pick up multiple pink and white hook sets from hooks and hangers, then placed all collected hooks into the shopping cart."}, {"start_frame": 2642, "end_frame": 2699, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot decreased its height, rotated its waist, and bent over to pick up multiple pink and white hook sets from hooks and hangers, then placed all collected hooks into the shopping cart."}, {"start_frame": 2699, "end_frame": 2889, "action_text": "decrease height", "skill": "AdjustPosture", "language_memory": "The robot has decreased its height, rotated its waist, and bent over to pick up and place multiple pink and white hook sets into the shopping cart, followed by posture adjustments."}, {"start_frame": 2889, "end_frame": 3203, "action_text": "pick up the white transparent 3-piece hook set on the hook", "skill": "Pick", "language_memory": "The robot has decreased its height, picked up and placed multiple pink and white hook sets into the shopping cart, and adjusted its posture and orientation throughout the process."}, {"start_frame": 3203, "end_frame": 3278, "action_text": "increase height", "skill": "AdjustPosture", "language_memory": "The robot has decreased its height, rotated its waist, and bent over to pick up multiple pink and white hook sets from hooks and hangers, placing them into the shopping cart, and is currently positioned to pick up a white transparent 3-piece hook set."}, {"start_frame": 3278, "end_frame": 3640, "action_text": "pick up the white transparent hook from the hook", "skill": "Pick", "language_memory": "The robot has decreased its height, picked up and placed multiple pink and white hook sets into the shopping cart, adjusted its posture, rotated its waist, and increased its height."}, {"start_frame": 3640, "end_frame": 3707, "action_text": "decrease height", "skill": "AdjustPosture", "language_memory": "The robot has successfully restocked the shopping cart with multiple pink and white hook sets by picking them from hooks and hangers, adjusting its posture, and placing them into the cart."}, {"start_frame": 3707, "end_frame": 3868, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has successfully picked up and placed multiple pink and white hook sets into the shopping cart, adjusted its posture and waist orientation, and modified its height throughout the process."}, {"start_frame": 3868, "end_frame": 3977, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot has successfully restocked the shopping cart with multiple pink and white hook sets by picking them from hooks and hangers, adjusting its posture, and placing them into the cart."}, {"start_frame": 3977, "end_frame": 4162, "action_text": "place the white transparent hook into the shopping cart", "skill": "Place", "language_memory": "The robot has successfully restocked the shopping cart with multiple pink and white hook sets by picking them from hooks and hangers, adjusting its posture, and placing them into the cart."}, {"start_frame": 4162, "end_frame": 4386, "action_text": "place the white transparent 3-piece hook set into the shopping cart", "skill": "Place", "language_memory": "The robot has successfully restocked the shopping cart by picking up and placing multiple pink and white hook sets from hooks and hangers into the cart."}, {"start_frame": 4386, "end_frame": 4425, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot has successfully restocked the shopping cart by picking up and placing multiple pink and white hook sets from hooks and hangers into the cart."}, {"start_frame": 4425, "end_frame": 4533, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has successfully restocked the shopping cart by picking up and placing multiple pink and white hook sets from hooks and hangers into the cart."}], "detailed_task_instruction": ["Restock the bagged toy by first adjusting your posture, rotating your waist, and decreasing your height to pick up the pink 3-piece hook set and the white 4-piece hook set from the hook, then place them into the shopping cart. Next, adjust your posture, rotate your waist, and decrease your height again to retrieve the pink triple hook from the hanger and the white transparent hook, placing both into the shopping cart. Finally, adjust your posture, rotate your waist, and decrease your height to pick up the white transparent 3-piece hook set and the white transparent hook from the hook, then place them into the shopping cart before increasing your height and rotating your waist to complete the restocking process."]}
{"task_id": "task_3404", "episode_index": 50, "video_path": "task_3404/videos/chunk-000/{video_key}/episode_000050.mp4", "tasks": ["Restocking the bagged toy."], "length": 2770, "action_config": [{"start_frame": 105, "end_frame": 180, "action_text": "decrease height", "skill": "AdjustPosture", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 180, "end_frame": 492, "action_text": "pick up the white 2-piece bear hook set on the hook", "skill": "Pick", "language_memory": "The robot has decreased the height."}, {"start_frame": 492, "end_frame": 681, "action_text": "pick up three green smiley face hooks from the rack", "skill": "Aim", "language_memory": "The robot decreased its height and picked up the white 2-piece bear hook set from the hook."}, {"start_frame": 681, "end_frame": 756, "action_text": "decrease height", "skill": "AdjustPosture", "language_memory": "The robot decreased its height, picked up the white 2-piece bear hook set from the hook, and retrieved three green smiley face hooks from the rack."}, {"start_frame": 756, "end_frame": 978, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot decreased its height, picked up the white 2-piece bear hook set from the hook, and retrieved three green smiley face hooks from the rack."}, {"start_frame": 978, "end_frame": 1208, "action_text": "place the two white bear-shaped hooks into the shopping cart", "skill": "Place", "language_memory": "The robot decreased its height, picked up a white 2-piece bear hook set and three green smiley face hooks, and then bent over."}, {"start_frame": 1208, "end_frame": 1424, "action_text": "place the green three-slot smiley hook into the shopping cart", "skill": "Place", "language_memory": "The robot decreased its height, bent over, picked up a white 2-piece bear hook set and three green smiley face hooks, and placed the two white bear-shaped hooks into the shopping cart."}, {"start_frame": 1424, "end_frame": 1466, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot decreased height, bent over, picked up the white 2-piece bear hook set and three green smiley face hooks, and placed all four hooks into the shopping cart."}, {"start_frame": 1466, "end_frame": 1570, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot decreased its height, bent over, picked up a white 2-piece bear hook set and three green smiley face hooks, and placed all four hooks into the shopping cart before adjusting its posture."}, {"start_frame": 1570, "end_frame": 1631, "action_text": "decrease height", "skill": "AdjustPosture", "language_memory": "The robot decreased its height, bent over, and rotated its waist to pick up a white 2-piece bear hook set and three green smiley face hooks from the rack, then placed all four hooks into the shopping cart."}, {"start_frame": 1631, "end_frame": 1801, "action_text": "pick up the three green hooks from the hook stand", "skill": "Pick", "language_memory": "The robot decreased height, picked up a white 2-piece bear hook set and three green smiley face hooks, and placed all four hooks into the shopping cart."}, {"start_frame": 1801, "end_frame": 1957, "action_text": "pick up the white 2-piece bear hook set from the hook", "skill": "Pick", "language_memory": "The robot decreased height, bent over, and rotated its waist to pick up a white 2-piece bear hook set and three green smiley face hooks from the rack, then placed the white bear hooks and one green three-slot smiley hook into the shopping cart before adjusting its posture and picking up the remaining green hooks."}, {"start_frame": 1957, "end_frame": 2023, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot decreased height, bent over, and rotated its waist to pick up a white 2-piece bear hook set and three green smiley face hooks from the rack and hook stand, then placed all hooks into the shopping cart."}, {"start_frame": 2023, "end_frame": 2139, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot decreased height, bent over, and adjusted its posture multiple times to pick up and place two white bear-shaped hooks and three green smiley face hooks into the shopping cart."}, {"start_frame": 2139, "end_frame": 2244, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot decreased height, picked up the white 2-piece bear hook set and three green smiley face hooks, and placed them into the shopping cart."}, {"start_frame": 2244, "end_frame": 2413, "action_text": "place the three green hooks into the shopping cart", "skill": "Place", "language_memory": "The robot decreased height, bent over, adjusted posture, and rotated the waist to pick up and place white bear-shaped hooks and green smiley face hooks into the shopping cart."}, {"start_frame": 2413, "end_frame": 2621, "action_text": "place the two white bear-shaped hooks into the shopping cart", "skill": "Place", "language_memory": "The robot decreased height, bent over, adjusted posture, and rotated the waist to pick up white bear-shaped hooks and green smiley face hooks from racks and stands, then placed all collected hooks into the shopping cart."}, {"start_frame": 2621, "end_frame": 2668, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot has decreased height, bent over, adjusted its posture, and rotated its waist multiple times to pick up and place two white bear-shaped hook sets and three green smiley face hooks into the shopping cart."}], "detailed_task_instruction": ["Restock the bagged toy by first adjusting your posture to decrease height, bend over, and rotate your waist. Pick up the white 2-piece bear hook set from the hook and three green smiley face hooks from the rack, then place both items into the shopping cart. Next, adjust your posture again, decrease height, bend over, and rotate your waist to reach the hook stand. Pick up the three green hooks from the stand and the white 2-piece bear hook set from the hook, placing all four items into the shopping cart. Finally, adjust your robot posture to complete the restocking process."]}
{"task_id": "task_3404", "episode_index": 51, "video_path": "task_3404/videos/chunk-000/{video_key}/episode_000051.mp4", "tasks": ["Restocking the bagged toy."], "length": 3546, "action_config": [{"start_frame": 60, "end_frame": 319, "action_text": "pick up the white 4-piece hook set on the hook", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 319, "end_frame": 596, "action_text": "pick up the white 4-piece hook set on the hook", "skill": "Pick", "language_memory": "The robot has picked up the white 4-piece hook set from the hook."}, {"start_frame": 596, "end_frame": 670, "action_text": "decrease height", "skill": "AdjustPosture", "language_memory": "The robot picked up the white 4-piece hook set from the hook."}, {"start_frame": 670, "end_frame": 794, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the white 4-piece hook set and decreased its height."}, {"start_frame": 794, "end_frame": 975, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot picked up the white 4-piece hook set and adjusted its posture by decreasing height and rotating the waist."}, {"start_frame": 975, "end_frame": 1212, "action_text": "place the white 4-piece hook set into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the white 4-piece hook set, decreased its height, rotated its waist, and adjusted its posture."}, {"start_frame": 1212, "end_frame": 1445, "action_text": "place the white four-compartment hook into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the white 4-piece hook set from the hook and placed it into the shopping cart."}, {"start_frame": 1445, "end_frame": 1490, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot picked up the white 4-piece hook set, adjusted its posture, and placed the hook set into the shopping cart."}, {"start_frame": 1490, "end_frame": 1720, "action_text": "increase height", "skill": "AdjustPosture", "language_memory": "The robot picked up white hook sets from the hook and placed them into the shopping cart while adjusting its posture."}, {"start_frame": 1720, "end_frame": 2235, "action_text": "pick up the green 3-piece smiley hook set on the hook", "skill": "Pick", "language_memory": "The robot picked up white hook sets from the hook and placed them into the shopping cart while adjusting its posture and height."}, {"start_frame": 2235, "end_frame": 2442, "action_text": "pick up the white 3-piece hook set on the hook", "skill": "Pick", "language_memory": "The robot picked up two white hook sets, adjusted its posture and height, and placed both into the shopping cart before picking up a green hook set."}, {"start_frame": 2442, "end_frame": 2526, "action_text": "decrease height", "skill": "AdjustPosture", "language_memory": "The robot picked up multiple hook sets from the hook, adjusted its posture and height, and placed the white hook sets into the shopping cart."}, {"start_frame": 2526, "end_frame": 2795, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot picked up multiple hook sets from the hook, adjusted its posture and height, and placed the white hook sets into the shopping cart."}, {"start_frame": 2795, "end_frame": 3072, "action_text": "place the three green smiley face hooks into the shopping cart", "skill": "Aim", "language_memory": "The robot picked up multiple hook sets from the hook and placed them into the shopping cart while adjusting its posture and height."}, {"start_frame": 3072, "end_frame": 3278, "action_text": "place the white 3-piece hook set into the shopping cart", "skill": "Place", "language_memory": "The robot picked up multiple white and green hook sets from the hook and placed them into the shopping cart while adjusting its posture and height."}, {"start_frame": 3278, "end_frame": 3331, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot has successfully picked up and placed multiple hook sets, including white 4-piece and 3-piece sets as well as green 3-piece smiley face hooks, into the shopping cart."}, {"start_frame": 3331, "end_frame": 3416, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has successfully restocked the shopping cart by placing multiple white hook sets and green smiley face hooks into the cart, while adjusting its posture and height throughout the process."}, {"start_frame": 3416, "end_frame": 3545, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has successfully restocked the shopping cart by placing multiple white hook sets and green smiley face hooks into the cart, while adjusting its posture and position throughout the process."}], "detailed_task_instruction": ["Restock the bagged toys by first adjusting your posture and height to reach the white 4-piece hook set on the hook, then placing it into the shopping cart. Next, adjust your posture and height again to retrieve the green 3-piece smiley hook set and the white 3-piece hook set from the hook, placing both sets into the shopping cart. Ensure all items are securely stored in the cart before completing the restocking process."]}
{"task_id": "task_3404", "episode_index": 52, "video_path": "task_3404/videos/chunk-000/{video_key}/episode_000052.mp4", "tasks": ["Restocking the bagged toy."], "length": 4466, "action_config": [{"start_frame": 50, "end_frame": 121, "action_text": "decrease height", "skill": "AdjustPosture", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 121, "end_frame": 283, "action_text": "pick up the gray triple hook from the hanger", "skill": "Pick", "language_memory": "The robot has decreased the height."}, {"start_frame": 283, "end_frame": 513, "action_text": "pick up the white transparent hook", "skill": "Pick", "language_memory": "The robot decreased its height and picked up the gray triple hook from the hanger."}, {"start_frame": 513, "end_frame": 576, "action_text": "decrease height", "skill": "AdjustPosture", "language_memory": "The robot decreased its height and picked up the gray triple hook and the white transparent hook from the hanger."}, {"start_frame": 576, "end_frame": 854, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot decreased its height, picked up the gray triple hook from the hanger, and picked up the white transparent hook."}, {"start_frame": 854, "end_frame": 1044, "action_text": "place the white transparent hook into the shopping cart", "skill": "Place", "language_memory": "The robot decreased its height, picked up the gray triple hook and the white transparent hook from the hanger, and bent over."}, {"start_frame": 1044, "end_frame": 1281, "action_text": "place the gray 3-piece hook set into the shopping cart", "skill": "Place", "language_memory": "The robot decreased its height, bent over, picked up the gray triple hook and the white transparent hook from the hanger, and placed the white transparent hook into the shopping cart."}, {"start_frame": 1281, "end_frame": 1334, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot decreased its height, bent over, picked up a gray triple hook and a white transparent hook from the hanger, and placed both items into the shopping cart."}, {"start_frame": 1334, "end_frame": 1757, "action_text": "pick up the white 2-piece bear hook set from the hook", "skill": "Pick", "language_memory": "The robot decreased its height, bent over, picked up a gray triple hook and a white transparent hook, and placed both items into the shopping cart before adjusting its posture."}, {"start_frame": 1757, "end_frame": 2070, "action_text": "pick up the green 3-piece smiley hook set on the hook", "skill": "Pick", "language_memory": "The robot decreased its height, bent over, and adjusted its posture to pick up a gray triple hook, a white transparent hook, and a white 2-piece bear hook set from the hanger, subsequently placing the white transparent hook and the gray 3-piece hook set into the shopping cart."}, {"start_frame": 2070, "end_frame": 2127, "action_text": "decrease height", "skill": "AdjustPosture", "language_memory": "The robot decreased its height, bent over, and adjusted its posture to pick up and place the gray triple hook, white transparent hook, white 2-piece bear hook set, and green 3-piece smiley hook set into the shopping cart."}, {"start_frame": 2127, "end_frame": 2339, "action_text": "bend your waist downward while rotating it", "skill": "AdjustPosture", "language_memory": "The robot decreased its height, bent over, and adjusted its posture to pick up and place the gray triple hook, white transparent hook, white 2-piece bear hook set, and green 3-piece smiley hook set into the shopping cart."}, {"start_frame": 2339, "end_frame": 2560, "action_text": "place the green three-pack of smiley hooks into the shopping cart", "skill": "Place", "language_memory": "The robot decreased its height, bent over, and adjusted its posture while picking up and placing the gray triple hook, white transparent hook, white 2-piece bear hook set, and green 3-piece smiley hook set into the shopping cart."}, {"start_frame": 2560, "end_frame": 2840, "action_text": "place the two white bear hooks into the shopping cart", "skill": "Place", "language_memory": "The robot decreased its height, bent over, and adjusted its posture to pick up and place the gray triple hook, white transparent hook, white 2-piece bear hook set, and green 3-piece smiley hook set into the shopping cart."}, {"start_frame": 2840, "end_frame": 2896, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot decreased height, bent over, and adjusted its posture to pick up and place multiple hook sets, including gray triple, white transparent, white bear, and green smiley hooks, into the shopping cart."}, {"start_frame": 2896, "end_frame": 3015, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot decreased height, bent over, and adjusted its posture multiple times while picking up and placing various hook sets—including a gray triple hook, a white transparent hook, a white 2-piece bear hook set, and a green 3-piece smiley hook set—into the shopping cart."}, {"start_frame": 3015, "end_frame": 3082, "action_text": "increase height", "skill": "AdjustPosture", "language_memory": "The robot decreased height, bent over, and adjusted its posture multiple times to pick up and place various hook sets, including a gray triple hook, a white transparent hook, a white 2-piece bear hook set, and a green 3-piece smiley hook set, into the shopping cart."}, {"start_frame": 3082, "end_frame": 3365, "action_text": "pick up the white transparent hook", "skill": "Pick", "language_memory": "The robot decreased height, bent over, and adjusted its posture to pick up and place multiple hook sets (gray triple, white transparent, white 2-piece bear, and green 3-piece smiley) into the shopping cart, while rotating its waist and increasing height."}, {"start_frame": 3365, "end_frame": 3569, "action_text": "pick up the pink 3-piece hook set on the hook", "skill": "Pick", "language_memory": "The robot has decreased height, bent over, and adjusted its posture multiple times to pick up various hooks including a gray triple hook, a white transparent hook, a white 2-piece bear hook set, and a green 3-piece smiley hook set, placing all of them into the shopping cart before picking up another white transparent hook."}, {"start_frame": 3569, "end_frame": 3629, "action_text": "decrease height", "skill": "AdjustPosture", "language_memory": "The robot decreased height, bent over, and adjusted its posture to pick up and place multiple hook sets including gray triple, white transparent, white 2-piece bear, and green 3-piece smiley hooks into the shopping cart, then rotated its waist and increased height to pick up another white transparent hook and a pink 3-piece hook set."}, {"start_frame": 3629, "end_frame": 3744, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot decreased height, picked up and placed multiple hook sets including gray triple, white transparent, white 2-piece bear, green 3-piece smiley, and pink 3-piece hooks into the shopping cart, and adjusted its posture throughout the process."}, {"start_frame": 3744, "end_frame": 3836, "action_text": "bend at the waist while lowering the body", "skill": "AdjustPosture", "language_memory": "The robot has decreased height, bent over, and rotated its waist multiple times to adjust posture, picked up and placed various hook sets including gray triple, white transparent, white 2-piece bear, green 3-piece smiley, and pink 3-piece hook sets into the shopping cart, and increased height."}, {"start_frame": 3836, "end_frame": 4057, "action_text": "place the white transparent hook into the shopping cart", "skill": "Place", "language_memory": "The robot has decreased height, bent over, and rotated its waist multiple times to pick up and place various hook sets—including gray triple, white transparent, white 2-piece bear, green 3-piece smiley, and pink 3-piece hook sets—into the shopping cart, while also adjusting its posture and increasing height as needed."}, {"start_frame": 4057, "end_frame": 4266, "action_text": "place the pink triple hook into the shopping cart", "skill": "Place", "language_memory": "The robot has decreased height, bent over, and rotated its waist multiple times to pick up various hooks including gray triple, white transparent, white 2-piece bear, green 3-piece smiley, and pink 3-piece sets, placing all collected hooks into the shopping cart while adjusting its posture and height throughout the process."}, {"start_frame": 4266, "end_frame": 4310, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot has decreased height, bent over, and rotated its waist multiple times to pick up and place various hook sets—including gray triple, white transparent, white 2-piece bear, green 3-piece smiley, and pink 3-piece hook sets—into the shopping cart, while also adjusting its posture and increasing height as needed."}, {"start_frame": 4310, "end_frame": 4465, "action_text": "increase height", "skill": "AdjustPosture", "language_memory": "The robot has decreased height, bent over, and rotated its waist multiple times to pick up and place various hook sets—including gray triple, white transparent, white 2-piece bear, green 3-piece smiley, and pink 3-piece hook sets—into the shopping cart, while also adjusting its posture and increasing height as needed."}], "detailed_task_instruction": ["Restock the bagged toys by first lowering your height, then picking up the gray triple hook and white transparent hook from the hanger before placing both into the shopping cart. Next, bend over, adjust your posture, and retrieve the white 2-piece bear hook set and green 3-piece smiley hook set from the hooks. After rotating your waist and lowering your body, place these two sets into the cart and adjust your posture again. Finally, increase your height, pick up another white transparent hook and the pink 3-piece hook set from the hanger, lower your body while rotating your waist, and place both items into the shopping cart to complete the restocking process."]}
{"task_id": "task_3404", "episode_index": 53, "video_path": "task_3404/videos/chunk-000/{video_key}/episode_000053.mp4", "tasks": ["Restocking the bagged toy."], "length": 3077, "action_config": [{"start_frame": 60, "end_frame": 117, "action_text": "decrease height", "skill": "AdjustPosture", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 117, "end_frame": 572, "action_text": "pick up the white 2-piece bear hook set on the hook", "skill": "Pick", "language_memory": "The robot has decreased the height."}, {"start_frame": 572, "end_frame": 759, "action_text": "pick up the white transparent hook", "skill": "Pick", "language_memory": "The robot decreased its height and picked up the white 2-piece bear hook set from the hook."}, {"start_frame": 759, "end_frame": 825, "action_text": "decrease height", "skill": "AdjustPosture", "language_memory": "The robot decreased its height, picked up the white 2-piece bear hook set from the hook, and picked up the white transparent hook."}, {"start_frame": 825, "end_frame": 1041, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot decreased its height, picked up the white 2-piece bear hook set from the hook, and picked up the white transparent hook."}, {"start_frame": 1041, "end_frame": 1253, "action_text": "place the two white bear-shaped hooks into the shopping cart", "skill": "Place", "language_memory": "The robot decreased its height, picked up the white 2-piece bear hook set and the white transparent hook, and bent over."}, {"start_frame": 1253, "end_frame": 1484, "action_text": "place the white transparent hook into the shopping cart", "skill": "Place", "language_memory": "The robot decreased its height, bent over, picked up the white 2-piece bear hook set and the white transparent hook, and placed the two white bear-shaped hooks into the shopping cart."}, {"start_frame": 1484, "end_frame": 1523, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot decreased its height, bent over, picked up the white 2-piece bear hook set and the white transparent hook from the hook, and placed all three items into the shopping cart."}, {"start_frame": 1523, "end_frame": 1684, "action_text": "increase height", "skill": "AdjustPosture", "language_memory": "The robot decreased its height, bent over, picked up the white 2-piece bear hook set and the white transparent hook from the hook, and placed both items into the shopping cart before adjusting its posture."}, {"start_frame": 1684, "end_frame": 1902, "action_text": "pick up the white 2-piece bear hook set on the hook", "skill": "Pick", "language_memory": "The robot decreased height, bent over, picked up the white 2-piece bear hook set and the white transparent hook from the hook, placed both items into the shopping cart, and adjusted its posture by increasing height."}, {"start_frame": 1902, "end_frame": 2163, "action_text": "pick up the white transparent hook", "skill": "Pick", "language_memory": "The robot decreased height, bent over, and placed the white bear-shaped hooks and transparent hook into the shopping cart before adjusting posture and increasing height to pick up another white 2-piece bear hook set."}, {"start_frame": 2163, "end_frame": 2232, "action_text": "decrease height", "skill": "AdjustPosture", "language_memory": "The robot decreased height, bent over, and placed the white bear-shaped hooks and white transparent hook into the shopping cart, then adjusted posture and increased height before picking up the white 2-piece bear hook set and white transparent hook again."}, {"start_frame": 2232, "end_frame": 2486, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot decreased height, bent over, and placed the white bear-shaped hooks and white transparent hook into the shopping cart, then adjusted its posture and increased height."}, {"start_frame": 2486, "end_frame": 2659, "action_text": "place the two white bear-shaped hooks into the shopping cart", "skill": "Place", "language_memory": "The robot has decreased height, bent over, and placed the white bear-shaped hooks and white transparent hook into the shopping cart, then adjusted its posture and increased height before picking up the white 2-piece bear hook set and white transparent hook again and decreasing height while bending over."}, {"start_frame": 2659, "end_frame": 2880, "action_text": "place the white transparent hook into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up and placed multiple white bear-shaped hooks and white transparent hooks into the shopping cart."}, {"start_frame": 2880, "end_frame": 2924, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot has successfully restocked the bagged toy by repeatedly picking up white bear-shaped hook sets and white transparent hooks from the hook and placing them into the shopping cart."}, {"start_frame": 2924, "end_frame": 3076, "action_text": "place the reset position", "skill": "Place", "language_memory": "The robot has adjusted its posture and height, picked up multiple white bear-shaped hook sets and transparent hooks from the display, and placed all of them into the shopping cart."}], "detailed_task_instruction": ["Restock the bagged toy by first adjusting your height and bending over to pick up the white 2-piece bear hook set and the white transparent hook from the hook. Place both items into the shopping cart, then adjust your posture and increase your height. Repeat this sequence by bending over again to retrieve the same white 2-piece bear hook set and white transparent hook, placing them into the shopping cart, and finally returning to the reset position."]}
{"task_id": "task_3404", "episode_index": 54, "video_path": "task_3404/videos/chunk-000/{video_key}/episode_000054.mp4", "tasks": ["Restocking the bagged toy."], "length": 3113, "action_config": [{"start_frame": 50, "end_frame": 118, "action_text": "increase height", "skill": "AdjustPosture", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 118, "end_frame": 482, "action_text": "pick up the white 2-piece bear hook set on the hook", "skill": "Pick", "language_memory": "The robot has increased its height."}, {"start_frame": 482, "end_frame": 669, "action_text": "pick up the white transparent hook", "skill": "Pick", "language_memory": "The robot increased its height and picked up the white 2-piece bear hook set from the hook."}, {"start_frame": 669, "end_frame": 742, "action_text": "decrease height", "skill": "AdjustPosture", "language_memory": "The robot increased its height, picked up the white 2-piece bear hook set from the hook, and picked up the white transparent hook."}, {"start_frame": 742, "end_frame": 999, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot increased its height, picked up the white 2-piece bear hook set and the white transparent hook, and then decreased its height."}, {"start_frame": 999, "end_frame": 1212, "action_text": "place the two white bear-shaped hooks into the shopping cart", "skill": "Place", "language_memory": "The robot increased its height, picked up the white 2-piece bear hook set and the white transparent hook, decreased its height, and adjusted its posture."}, {"start_frame": 1212, "end_frame": 1398, "action_text": "place the white transparent hook into the shopping cart", "skill": "Place", "language_memory": "The robot increased its height, picked up the white 2-piece bear hook set and the white transparent hook, decreased its height, adjusted its posture, and placed the two white bear-shaped hooks into the shopping cart."}, {"start_frame": 1398, "end_frame": 1443, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot increased its height, picked up the white 2-piece bear hook set and the white transparent hook from the hook, decreased its height, adjusted its posture, and placed all three hooks into the shopping cart."}, {"start_frame": 1443, "end_frame": 1557, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot increased its height, picked up the white 2-piece bear hook set and the white transparent hook from the hook, decreased its height, adjusted its posture, and placed all three hooks into the shopping cart."}, {"start_frame": 1557, "end_frame": 1684, "action_text": "decrease height", "skill": "AdjustPosture", "language_memory": "The robot increased its height, picked up the white 2-piece bear hook set and the white transparent hook from the hook, decreased its height, adjusted its posture, and placed both the bear-shaped hooks and the transparent hook into the shopping cart before adjusting its posture and rotating its waist."}, {"start_frame": 1684, "end_frame": 2160, "action_text": "pick up the white 2-piece bear hook set on the hook", "skill": "Pick", "language_memory": "The robot adjusted its height and posture, picked up the white 2-piece bear hook set and the white transparent hook, and placed both items into the shopping cart."}, {"start_frame": 2160, "end_frame": 2338, "action_text": "pick up the pink triple hook from the hanger", "skill": "Pick", "language_memory": "The robot adjusted its height and posture, picked up the white 2-piece bear hook set and the white transparent hook from the hook, and placed both items into the shopping cart."}, {"start_frame": 2338, "end_frame": 2392, "action_text": "decrease height", "skill": "AdjustPosture", "language_memory": "The robot adjusted its height and posture, placed the white 2-piece bear hook set and the white transparent hook into the shopping cart, and picked up the pink triple hook from the hanger."}, {"start_frame": 2392, "end_frame": 2615, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot adjusted its height and posture, placed the white bear-shaped hooks and the white transparent hook into the shopping cart, and picked up the white 2-piece bear hook set and the pink triple hook from the hanger."}, {"start_frame": 2615, "end_frame": 2794, "action_text": "place the white 2-piece bear hook set into the shopping cart", "skill": "Place", "language_memory": "The robot adjusted its posture and height, picked up the white 2-piece bear hook set and the pink triple hook from the hanger, and placed the white hooks into the shopping cart."}, {"start_frame": 2794, "end_frame": 2970, "action_text": "place the pink three-pack hook into the shopping cart", "skill": "Place", "language_memory": "The robot adjusted its posture and height, picked up the white 2-piece bear hook set and the pink triple hook from the hanger, and placed all hooks into the shopping cart."}, {"start_frame": 2970, "end_frame": 3015, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot adjusted its posture and height, picked up and placed multiple white bear-shaped hooks and a pink triple hook into the shopping cart."}], "detailed_task_instruction": ["Restock the bagged toys by first increasing your height to pick up the white 2-piece bear hook set and the white transparent hook from the hook, then decrease your height and adjust your posture before placing both items into the shopping cart. Next, rotate your waist, decrease your height again, and bend over to pick up the white 2-piece bear hook set and the pink triple hook from the hanger. Finally, decrease your height once more, adjust your posture, and place the white 2-piece bear hook set and the pink three-pack hook into the shopping cart to complete the restocking process."]}
{"task_id": "task_3404", "episode_index": 55, "video_path": "task_3404/videos/chunk-000/{video_key}/episode_000055.mp4", "tasks": ["Restocking the bagged toy."], "length": 4440, "action_config": [{"start_frame": 30, "end_frame": 100, "action_text": "decrease height", "skill": "AdjustPosture", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 100, "end_frame": 320, "action_text": "pick up the white transparent hook from the hanger", "skill": "Pick", "language_memory": "The robot has decreased the height."}, {"start_frame": 320, "end_frame": 500, "action_text": "pick up the pink 3-piece hook set on the hook", "skill": "Pick", "language_memory": "The robot decreased its height and picked up the white transparent hook from the hanger."}, {"start_frame": 500, "end_frame": 590, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot decreased its height, picked up the white transparent hook from the hanger, and picked up the pink 3-piece hook set from the hook."}, {"start_frame": 590, "end_frame": 847, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot decreased its height, picked up the white transparent hook from the hanger, retrieved the pink 3-piece hook set from the hook, and adjusted its posture."}, {"start_frame": 847, "end_frame": 1075, "action_text": "place the white transparent hook into the shopping cart", "skill": "Place", "language_memory": "The robot decreased its height, picked up the white transparent hook from the hanger, picked up the pink 3-piece hook set from the hook, and adjusted its posture."}, {"start_frame": 1075, "end_frame": 1329, "action_text": "place the pink three-pack of hooks into the shopping cart", "skill": "Place", "language_memory": "The robot decreased its height, picked up the white transparent hook and the pink 3-piece hook set, adjusted its posture, and placed the white transparent hook into the shopping cart."}, {"start_frame": 1329, "end_frame": 1374, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot decreased its height, picked up a white transparent hook and a pink three-piece hook set, adjusted its posture, and placed both items into the shopping cart."}, {"start_frame": 1374, "end_frame": 1514, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot decreased its height, picked up a white transparent hook and a pink three-piece hook set, adjusted its posture, and placed both items into the shopping cart."}, {"start_frame": 1514, "end_frame": 1565, "action_text": "increase height", "skill": "AdjustPosture", "language_memory": "The robot decreased its height, picked up a white transparent hook and a pink three-piece hook set from the hanger, and placed both items into the shopping cart while adjusting its posture multiple times."}, {"start_frame": 1565, "end_frame": 1791, "action_text": "pick up the white 4-piece hook set on the hook", "skill": "Pick", "language_memory": "The robot decreased its height, picked up a white transparent hook and a pink three-piece hook set from the hanger, adjusted its posture multiple times, and placed both items into the shopping cart before increasing its height."}, {"start_frame": 1791, "end_frame": 1956, "action_text": "pick up the pink 3-piece hook set on the hook", "skill": "Pick", "language_memory": "The robot decreased its height, picked up a white transparent hook and a pink three-piece hook set from the hanger, adjusted its posture multiple times, placed both items into the shopping cart, adjusted its posture again, increased its height, and picked up a white four-piece hook set."}, {"start_frame": 1956, "end_frame": 2028, "action_text": "decrease height", "skill": "AdjustPosture", "language_memory": "The robot decreased its height, picked up and placed the white transparent hook and two pink hook sets into the shopping cart, adjusted its posture multiple times, and increased its height."}, {"start_frame": 2028, "end_frame": 2253, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot decreased height, picked up and placed the white transparent hook and pink three-piece hook set into the shopping cart, adjusted its posture multiple times, increased height, picked up the white four-piece hook set and another pink three-piece hook set, and finally decreased height."}, {"start_frame": 2253, "end_frame": 2509, "action_text": "place the white 4-piece hook set into the shopping cart", "skill": "Place", "language_memory": "The robot decreased height, picked up and placed white transparent and pink hook sets into the shopping cart, adjusted its posture multiple times, and increased height before bending over."}, {"start_frame": 2509, "end_frame": 2724, "action_text": "place the pink triple hook into the shopping cart", "skill": "Place", "language_memory": "The robot decreased and increased its height, adjusted its posture multiple times, picked up and placed the white transparent hook, pink 3-piece hook set, and white 4-piece hook set into the shopping cart."}, {"start_frame": 2724, "end_frame": 2765, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot adjusted its posture multiple times, modified its height, and placed various hook sets including white transparent, pink three-piece, white four-piece, and pink triple hooks into the shopping cart."}, {"start_frame": 2765, "end_frame": 2978, "action_text": "decrease height", "skill": "AdjustPosture", "language_memory": "The robot adjusted its posture multiple times, decreased and increased its height, bent over, and placed various hook sets including white transparent, pink three-piece, white four-piece, and pink triple hooks into the shopping cart."}, {"start_frame": 2978, "end_frame": 3232, "action_text": "pick up the white transparent hook", "skill": "Pick", "language_memory": "The robot decreased height, picked up and placed multiple white and pink hook sets into the shopping cart, adjusted its posture several times, and increased height."}, {"start_frame": 3232, "end_frame": 3503, "action_text": "pick up the white 2-piece bear hook set from the hook", "skill": "Pick", "language_memory": "The robot decreased height, picked up and placed multiple white transparent and pink hook sets into the shopping cart, adjusted its posture several times, and increased height before picking up another white transparent hook."}, {"start_frame": 3503, "end_frame": 3788, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot decreased and increased its height, adjusted its posture multiple times, and placed various white and pink hook sets into the shopping cart."}, {"start_frame": 3788, "end_frame": 4028, "action_text": "place the white transparent hook into the shopping cart", "skill": "Place", "language_memory": "The robot decreased height, picked up and placed multiple white and pink hook sets into the shopping cart, adjusted its posture several times, and increased height before the current clip."}, {"start_frame": 4028, "end_frame": 4248, "action_text": "place the two white bear hooks into the shopping cart", "skill": "Place", "language_memory": "The robot adjusted its posture multiple times, varied its height, and placed several white and pink hook sets into the shopping cart."}, {"start_frame": 4248, "end_frame": 4291, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot adjusted its posture multiple times, varied its height, and placed several white and pink hook sets into the shopping cart."}, {"start_frame": 4291, "end_frame": 4439, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has adjusted its posture multiple times, varied its height, and placed several white and pink hook sets into the shopping cart."}], "detailed_task_instruction": ["Adjust the robot posture and decrease height to access lower shelves. Pick up the white transparent hook and the pink 3-piece hook set from the hanger, then place both into the shopping cart. Adjust the robot posture, increase height, and pick up the white 4-piece hook set and another pink 3-piece hook set from the hook, placing them into the shopping cart. Decrease height, bend over, and pick up the white transparent hook along with the white 2-piece bear hook set from the hook. Place the white transparent hook and the two white bear hooks into the shopping cart. Finally, adjust the robot posture and rotate the waist to complete the restocking of the bagged toy."]}
{"task_id": "task_3404", "episode_index": 56, "video_path": "task_3404/videos/chunk-000/{video_key}/episode_000056.mp4", "tasks": ["Restocking the bagged toy."], "length": 3112, "action_config": [{"start_frame": 50, "end_frame": 227, "action_text": "pick up the green 3-piece smiley hook set on the hook", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 227, "end_frame": 370, "action_text": "pick up the white transparent hook", "skill": "Pick", "language_memory": "The robot picked up the green 3-piece smiley hook set from the hook."}, {"start_frame": 370, "end_frame": 430, "action_text": "decrease height", "skill": "AdjustPosture", "language_memory": "The robot has picked up the green 3-piece smiley hook set and the white transparent hook."}, {"start_frame": 430, "end_frame": 656, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot picked up the green 3-piece smiley hook set and the white transparent hook, then decreased its height."}, {"start_frame": 656, "end_frame": 873, "action_text": "place the three green smiley hooks into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the green 3-piece smiley hook set and the white transparent hook, then decreased its height and bent over."}, {"start_frame": 873, "end_frame": 1123, "action_text": "place the white transparent hook into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the green 3-piece smiley hook set and the white transparent hook, adjusted its posture by decreasing height and bending over, and placed the three green smiley hooks into the shopping cart."}, {"start_frame": 1123, "end_frame": 1195, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot picked up the green 3-piece smiley hook set and the white transparent hook, adjusted its posture by decreasing height and bending over, and placed all four hooks into the shopping cart."}, {"start_frame": 1195, "end_frame": 1418, "action_text": "decrease height", "skill": "AdjustPosture", "language_memory": "The robot picked up the green 3-piece smiley hook set and the white transparent hook, adjusted its posture, and placed all hooks into the shopping cart."}, {"start_frame": 1418, "end_frame": 1718, "action_text": "pick up the white 2-piece bear hook set on the hook", "skill": "Pick", "language_memory": "The robot picked up the green 3-piece smiley hook set and the white transparent hook, then placed all four hooks into the shopping cart while adjusting its posture and decreasing height."}, {"start_frame": 1718, "end_frame": 2254, "action_text": "pick up three green smiley face hooks from the hanger", "skill": "Aim", "language_memory": "The robot picked up the green 3-piece smiley hook set and the white transparent hook, placed them into the shopping cart, and is currently holding the white 2-piece bear hook set."}, {"start_frame": 2254, "end_frame": 2317, "action_text": "decrease height", "skill": "AdjustPosture", "language_memory": "The robot picked up the green 3-piece smiley hook set, the white transparent hook, the white 2-piece bear hook set, and three green smiley face hooks, then placed the smiley hooks and the white transparent hook into the shopping cart while adjusting its posture and height."}, {"start_frame": 2317, "end_frame": 2559, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot has picked up and placed multiple hook sets, including green smiley hooks and a white transparent hook, into the shopping cart while adjusting its posture and height."}, {"start_frame": 2559, "end_frame": 2796, "action_text": "place the two white bear-shaped hooks into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up and placed multiple hook sets, including green smiley hooks and a white transparent hook, into the shopping cart while adjusting its posture and height."}, {"start_frame": 2796, "end_frame": 2978, "action_text": "place the three green smiley face hooks into the shopping cart", "skill": "Aim", "language_memory": "The robot has placed the green smiley hook set, white transparent hook, white bear hook set, and additional green smiley face hooks into the shopping cart."}, {"start_frame": 2978, "end_frame": 3021, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot has placed multiple green smiley hooks and white transparent/bear hooks into the shopping cart while adjusting its posture and height."}, {"start_frame": 3021, "end_frame": 3111, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has successfully picked up and placed multiple hook sets, including green smiley hooks, a white transparent hook, and white bear-shaped hooks, into the shopping cart while adjusting its posture and height as needed."}], "detailed_task_instruction": ["Restock the bagged toys by first bending over and decreasing height to pick up the green 3-piece smiley hook set and the white transparent hook from the hook, then placing both into the shopping cart. Adjust your posture, decrease height again, and bend over to retrieve the white 2-piece bear hook set and three green smiley face hooks from the hanger. Finally, place the two white bear-shaped hooks and the three green smiley face hooks into the shopping cart, ensuring all items are successfully transferred."]}
{"task_id": "task_3405", "episode_index": 0, "video_path": "task_3405/videos/chunk-000/{video_key}/episode_000000.mp4", "tasks": ["Restocking the bottled soy sauce."], "length": 2691, "action_config": [{"start_frame": 35, "end_frame": 115, "action_text": "decrease height", "skill": "AdjustPosture", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 115, "end_frame": 291, "action_text": "pick up the yellow-capped bottled soy sauce from the shelf", "skill": "Pick", "language_memory": "The robot has decreased its height."}, {"start_frame": 291, "end_frame": 537, "action_text": "pick up the yellow-capped bottled soy sauce from the shelf", "skill": "Pick", "language_memory": "The robot decreased its height and picked up the yellow-capped bottled soy sauce from the shelf."}, {"start_frame": 537, "end_frame": 628, "action_text": "pick up the object", "skill": "Pick", "language_memory": "The robot decreased its height and picked up the yellow-capped bottled soy sauce from the shelf."}, {"start_frame": 628, "end_frame": 804, "action_text": "bend your body downward while rotating your waist", "skill": "AdjustPosture", "language_memory": "The robot decreased its height and picked up the yellow-capped bottled soy sauce from the shelf."}, {"start_frame": 804, "end_frame": 1070, "action_text": "place the yellow-capped bottled soy sauce into the shopping cart", "skill": "Place", "language_memory": "The robot decreased its height, bent its body downward while rotating its waist, and picked up the yellow-capped bottled soy sauce from the shelf."}, {"start_frame": 1070, "end_frame": 1298, "action_text": "place the bottle of soy sauce with a yellow cap into the shopping cart", "skill": "Place", "language_memory": "The robot decreased its height, picked up the yellow-capped bottled soy sauce from the shelf, and placed it into the shopping cart."}, {"start_frame": 1298, "end_frame": 1457, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot decreased its height, bent its body downward while rotating its waist, and picked up the yellow-capped bottled soy sauce from the shelf before placing it into the shopping cart."}, {"start_frame": 1457, "end_frame": 1538, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot decreased its height, bent downward while rotating its waist, adjusted its posture, and successfully picked up and placed two yellow-capped bottled soy sauces into the shopping cart."}, {"start_frame": 1538, "end_frame": 1772, "action_text": "pick up the yellow-capped bottled soy sauce from the shelf", "skill": "Pick", "language_memory": "The robot decreased its height, picked up the yellow-capped bottled soy sauce from the shelf, and placed it into the shopping cart."}, {"start_frame": 1772, "end_frame": 1999, "action_text": "pick up the yellow-capped bottled soy sauce from the shelf", "skill": "Pick", "language_memory": "The robot has decreased its height, adjusted its posture, and successfully picked up and placed multiple yellow-capped bottled soy sauces from the shelf into the shopping cart."}, {"start_frame": 1999, "end_frame": 2156, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot has decreased its height, adjusted its posture, and successfully picked up and placed multiple yellow-capped bottled soy sauces from the shelf into the shopping cart."}, {"start_frame": 2156, "end_frame": 2203, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot has adjusted its posture, decreased its height, and successfully picked up and placed multiple yellow-capped bottled soy sauces from the shelf into the shopping cart."}, {"start_frame": 2203, "end_frame": 2385, "action_text": "place the yellow-capped bottled soy sauce into the shopping cart", "skill": "Place", "language_memory": "The robot has adjusted its posture, decreased its height, and successfully picked up and placed multiple yellow-capped bottled soy sauces from the shelf into the shopping cart."}, {"start_frame": 2385, "end_frame": 2556, "action_text": "place the yellow-capped bottle of soy sauce into the shopping cart", "skill": "Place", "language_memory": "The robot has successfully picked up multiple yellow-capped bottled soy sauces from the shelf and placed them into the shopping cart."}, {"start_frame": 2556, "end_frame": 2690, "action_text": "the input action text describes a body movement (\"lift your waist while rotating it\") rather than a manipulation task involving an object to be picked up or placed. therefore, it cannot be rewritten into the specified \"pick up the x\" or \"place the x...\" format without inventing objects or actions, which violates the rules. no valid output sentence can be generated", "skill": "Pick", "language_memory": "The robot has successfully picked up multiple yellow-capped bottled soy sauces from the shelf and placed them into the shopping cart."}], "detailed_task_instruction": ["Lower your height and bend your body downward while rotating your waist to pick up the yellow-capped bottled soy sauce from the shelf. Adjust your robot posture as needed. Place the yellow-capped bottled soy sauce into the shopping cart. Repeat this process of lowering your height, bending down with waist rotation, adjusting posture, picking up the yellow-capped bottled soy sauce from the shelf, and placing it into the shopping cart for the remaining bottles."]}
{"task_id": "task_3405", "episode_index": 1, "video_path": "task_3405/videos/chunk-000/{video_key}/episode_000001.mp4", "tasks": ["Restocking the bottled soy sauce."], "length": 2174, "action_config": [{"start_frame": 0, "end_frame": 98, "action_text": "decrease height", "skill": "AdjustPosture", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 98, "end_frame": 267, "action_text": "pick up the yellow-capped bottled soy sauce from the shelf", "skill": "Pick", "language_memory": "The robot has decreased its height."}, {"start_frame": 267, "end_frame": 494, "action_text": "pick up the yellow-capped bottled soy sauce from the shelf", "skill": "Pick", "language_memory": "The robot decreased its height and picked up the yellow-capped bottled soy sauce from the shelf."}, {"start_frame": 494, "end_frame": 604, "action_text": "pick up the waist", "skill": "Pick", "language_memory": "The robot decreased its height and picked up the yellow-capped bottled soy sauce from the shelf."}, {"start_frame": 604, "end_frame": 649, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot decreased its height and picked up the yellow-capped bottled soy sauce from the shelf."}, {"start_frame": 649, "end_frame": 833, "action_text": "place the yellow-capped bottled soy sauce into the shopping cart", "skill": "Place", "language_memory": "The robot decreased its height, bent over, and picked up the yellow-capped bottled soy sauce from the shelf."}, {"start_frame": 833, "end_frame": 994, "action_text": "place the yellow-capped soy sauce bottle into the shopping cart", "skill": "Place", "language_memory": "The robot decreased its height, bent over, picked up the yellow-capped bottled soy sauce from the shelf, and placed it into the shopping cart."}, {"start_frame": 994, "end_frame": 1108, "action_text": "pick up the waist", "skill": "Pick", "language_memory": "The robot decreased its height, bent over, and picked up the yellow-capped bottled soy sauce from the shelf before placing it into the shopping cart."}, {"start_frame": 1108, "end_frame": 1184, "action_text": "decrease height", "skill": "AdjustPosture", "language_memory": "The robot decreased its height, bent over, picked up the yellow-capped bottled soy sauce from the shelf, and placed it into the shopping cart."}, {"start_frame": 1184, "end_frame": 1326, "action_text": "pick up the yellow-capped bottled soy sauce from the shelf", "skill": "Pick", "language_memory": "The robot decreased its height, picked up yellow-capped bottled soy sauce from the shelf, and placed it into the shopping cart."}, {"start_frame": 1326, "end_frame": 1528, "action_text": "pick up the yellow-capped bottled soy sauce from the shelf", "skill": "Pick", "language_memory": "The robot decreased its height, picked up multiple yellow-capped bottled soy sauces from the shelf, and placed them into the shopping cart."}, {"start_frame": 1528, "end_frame": 1662, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot decreased its height, picked up multiple yellow-capped bottled soy sauces from the shelf, and placed them into the shopping cart."}, {"start_frame": 1662, "end_frame": 1724, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot has decreased its height, picked up multiple yellow-capped bottled soy sauces from the shelf, and placed them into the shopping cart while adjusting its posture."}, {"start_frame": 1724, "end_frame": 1849, "action_text": "place the yellow-capped bottled soy sauce into the shopping cart", "skill": "Place", "language_memory": "The robot has decreased its height, bent over, and adjusted its posture multiple times to pick up several yellow-capped bottled soy sauces from the shelf and place them into the shopping cart."}, {"start_frame": 1849, "end_frame": 1976, "action_text": "place the yellow-capped bottled soy sauce into the shopping cart", "skill": "Place", "language_memory": "The robot has decreased its height, bent over, and picked up multiple yellow-capped bottled soy sauces from the shelf, placing them into the shopping cart."}, {"start_frame": 1976, "end_frame": 2134, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot has decreased its height, adjusted its posture, and bent over to pick up multiple yellow-capped bottled soy sauces from the shelf, successfully placing them into the shopping cart."}, {"start_frame": 2134, "end_frame": 2173, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot has adjusted its posture, decreased height, and bent over to pick up multiple yellow-capped bottled soy sauces from the shelf, successfully placing them into the shopping cart."}], "detailed_task_instruction": ["Adjust your posture to a lower height and bend over to reach the shelf. Pick up multiple yellow-capped bottled soy sauces from the shelf, adjusting your posture as needed between picks. Place each retrieved bottle into the shopping cart. Repeat this process of lowering your height, bending, picking up the soy sauce bottles, and placing them into the cart until the restocking is complete."]}
{"task_id": "task_3405", "episode_index": 2, "video_path": "task_3405/videos/chunk-000/{video_key}/episode_000002.mp4", "tasks": ["Restocking the bottled soy sauce."], "length": 2107, "action_config": [{"start_frame": 0, "end_frame": 107, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 107, "end_frame": 273, "action_text": "pick up the yellow-capped bottled soy sauce from the shelf", "skill": "Pick", "language_memory": "The robot has adjusted its posture."}, {"start_frame": 273, "end_frame": 435, "action_text": "pick up the yellow-capped bottled soy sauce from the shelf", "skill": "Pick", "language_memory": "The robot adjusted its posture and picked up the yellow-capped bottled soy sauce from the shelf."}, {"start_frame": 435, "end_frame": 585, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot adjusted its posture and picked up a yellow-capped bottled soy sauce from the shelf."}, {"start_frame": 585, "end_frame": 632, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot adjusted its posture and picked up a yellow-capped bottled soy sauce from the shelf."}, {"start_frame": 632, "end_frame": 779, "action_text": "place the yellow-capped bottled soy sauce into the shopping cart", "skill": "Place", "language_memory": "The robot adjusted its posture, picked up a yellow-capped bottled soy sauce from the shelf, and bent over."}, {"start_frame": 779, "end_frame": 939, "action_text": "place the yellow-capped bottle of soy sauce into the shopping cart", "skill": "Place", "language_memory": "The robot adjusted its posture, picked up a yellow-capped bottled soy sauce from the shelf, and placed it into the shopping cart."}, {"start_frame": 939, "end_frame": 1072, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot adjusted its posture, picked up yellow-capped bottled soy sauce from the shelf, and placed it into the shopping cart."}, {"start_frame": 1072, "end_frame": 1134, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot adjusted its posture, picked up yellow-capped bottled soy sauce from the shelf, and placed the bottles into the shopping cart."}, {"start_frame": 1134, "end_frame": 1272, "action_text": "pick up the bottled soy sauce with the yellow cap from the shelf", "skill": "Pick", "language_memory": "The robot adjusted its posture, picked up yellow-capped bottled soy sauce from the shelf, and placed the bottles into the shopping cart."}, {"start_frame": 1272, "end_frame": 1468, "action_text": "pick up the yellow-capped bottled soy sauce from the shelf", "skill": "Pick", "language_memory": "The robot adjusted its posture, bent over, and picked up multiple yellow-capped bottled soy sauces from the shelf, placing them into the shopping cart."}, {"start_frame": 1468, "end_frame": 1592, "action_text": "pick up the waist", "skill": "Pick", "language_memory": "The robot adjusted its posture multiple times, bent over, and picked up several yellow-capped bottled soy sauces from the shelf before placing them into the shopping cart."}, {"start_frame": 1592, "end_frame": 1645, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot adjusted its posture, bent over, and picked up multiple yellow-capped bottled soy sauces from the shelf before placing them into the shopping cart."}, {"start_frame": 1645, "end_frame": 1755, "action_text": "place the yellow-capped soy sauce bottle into the shopping cart", "skill": "Place", "language_memory": "The robot adjusted its posture, bent over, and picked up multiple yellow-capped bottled soy sauces from the shelf, placing them into the shopping cart."}, {"start_frame": 1755, "end_frame": 1922, "action_text": "place the yellow-capped bottle of soy sauce into the shopping cart", "skill": "Place", "language_memory": "The robot adjusted its posture multiple times, bent over, and successfully picked up several yellow-capped bottled soy sauces from the shelf before placing them into the shopping cart."}, {"start_frame": 1922, "end_frame": 2047, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot adjusted its posture multiple times, bent over, and successfully picked up several yellow-capped bottled soy sauces from the shelf before placing them into the shopping cart."}, {"start_frame": 2047, "end_frame": 2106, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot adjusted its posture multiple times, bent over, and successfully picked up several yellow-capped bottled soy sauces from the shelf to place them into the shopping cart."}], "detailed_task_instruction": ["Adjust the robot posture and bend over to pick up a yellow-capped bottled soy sauce from the shelf, then place it into the shopping cart. Repeat this sequence to pick up and place a second yellow-capped bottled soy sauce into the cart. Finally, adjust the robot posture, bend over again to pick up a third bottled soy sauce with a yellow cap from the shelf, and place it into the shopping cart. Throughout the process, ensure the robot posture is adjusted as needed before and after each bending and reaching motion to successfully restock the selected soy sauce bottles into the cart."]}
{"task_id": "task_3405", "episode_index": 3, "video_path": "task_3405/videos/chunk-000/{video_key}/episode_000003.mp4", "tasks": ["Restocking the bottled soy sauce."], "length": 2155, "action_config": [{"start_frame": 0, "end_frame": 115, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 115, "end_frame": 505, "action_text": "pick up the yellow-capped bottled soy sauce from the shelf", "skill": "Pick", "language_memory": "The robot has adjusted its posture."}, {"start_frame": 505, "end_frame": 667, "action_text": "pick up the yellow-capped bottled soy sauce from the shelf", "skill": "Pick", "language_memory": "The robot adjusted its posture and picked up the yellow-capped bottled soy sauce from the shelf."}, {"start_frame": 667, "end_frame": 761, "action_text": "as the waist rises, the body ascends", "skill": "AdjustPosture", "language_memory": "The robot adjusted its posture and picked up a yellow-capped bottled soy sauce from the shelf."}, {"start_frame": 761, "end_frame": 857, "action_text": "bend the body downward while rotating the waist", "skill": "AdjustPosture", "language_memory": "The robot adjusted its posture and picked up a yellow-capped bottled soy sauce from the shelf."}, {"start_frame": 857, "end_frame": 930, "action_text": "place the yellow-capped bottled soy sauce into the shopping cart", "skill": "Place", "language_memory": "The robot adjusted its posture, picked up a yellow-capped bottled soy sauce from the shelf, and executed body movements including waist rotation and bending."}, {"start_frame": 930, "end_frame": 1005, "action_text": "place the yellow-capped bottle of soy sauce into the shopping cart", "skill": "Place", "language_memory": "The robot adjusted its posture, picked up a yellow-capped bottled soy sauce from the shelf, and placed it into the shopping cart."}, {"start_frame": 1005, "end_frame": 1127, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot adjusted its posture, picked up yellow-capped bottled soy sauce from the shelf, and placed it into the shopping cart."}, {"start_frame": 1127, "end_frame": 1155, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot adjusted its posture, picked up yellow-capped bottled soy sauce from the shelf, and placed it into the shopping cart."}, {"start_frame": 1155, "end_frame": 1353, "action_text": "pick up the yellow-capped bottled soy sauce from the shelf", "skill": "Pick", "language_memory": "The robot adjusted its posture, picked up yellow-capped bottled soy sauce from the shelf, and placed it into the shopping cart."}, {"start_frame": 1353, "end_frame": 1528, "action_text": "pick up the yellow-capped soy sauce from the shelf", "skill": "Pick", "language_memory": "The robot adjusted its posture, picked up multiple yellow-capped bottled soy sauces from the shelf, and placed them into the shopping cart."}, {"start_frame": 1528, "end_frame": 1647, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot adjusted its posture, picked up multiple yellow-capped bottled soy sauces from the shelf, and placed them into the shopping cart."}, {"start_frame": 1647, "end_frame": 1689, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot adjusted its posture, picked up multiple yellow-capped bottled soy sauces from the shelf, and placed them into the shopping cart."}, {"start_frame": 1689, "end_frame": 1808, "action_text": "place the yellow-capped bottled soy sauce into the shopping cart", "skill": "Place", "language_memory": "The robot adjusted its posture, picked up multiple yellow-capped bottled soy sauces from the shelf, and placed them into the shopping cart."}, {"start_frame": 1808, "end_frame": 2020, "action_text": "place the soy sauce with the yellow cap into the shopping cart", "skill": "Place", "language_memory": "The robot adjusted its posture, bent over, and picked up multiple yellow-capped bottled soy sauces from the shelf before placing them into the shopping cart."}, {"start_frame": 2020, "end_frame": 2132, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot adjusted its posture, bent over, and picked up multiple yellow-capped bottled soy sauces from the shelf before placing them into the shopping cart."}, {"start_frame": 2132, "end_frame": 2154, "action_text": "place the reset position", "skill": "Place", "language_memory": "The robot adjusted its posture multiple times, bent over, and picked up several yellow-capped bottled soy sauces from the shelf before placing them into the shopping cart."}], "detailed_task_instruction": ["Adjust the robot posture and bend over to reach the shelf. Pick up multiple yellow-capped bottled soy sauces from the shelf, utilizing waist rotation and body ascent as needed to maneuver. Place each retrieved bottle into the shopping cart. Repeat this sequence of picking up the soy sauce and placing it in the cart for all available items. Finally, adjust the robot posture and return to the reset position."]}
{"task_id": "task_3405", "episode_index": 4, "video_path": "task_3405/videos/chunk-000/{video_key}/episode_000004.mp4", "tasks": ["Restocking the bottled soy sauce."], "length": 2694, "action_config": [{"start_frame": 25, "end_frame": 139, "action_text": "decrease height", "skill": "AdjustPosture", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 139, "end_frame": 426, "action_text": "pick up the yellow-capped bottled soy sauce from the shelf", "skill": "Pick", "language_memory": "The robot has decreased its height."}, {"start_frame": 426, "end_frame": 676, "action_text": "pick up the yellow-capped bottled soy sauce from the shelf", "skill": "Pick", "language_memory": "The robot decreased its height and picked up the yellow-capped bottled soy sauce from the shelf."}, {"start_frame": 676, "end_frame": 755, "action_text": "increase height", "skill": "AdjustPosture", "language_memory": "The robot decreased its height and picked up the yellow-capped bottled soy sauce from the shelf."}, {"start_frame": 755, "end_frame": 914, "action_text": "bend the body downward while rotating the waist", "skill": "AdjustPosture", "language_memory": "The robot decreased its height, picked up the yellow-capped bottled soy sauce from the shelf, and increased its height."}, {"start_frame": 914, "end_frame": 1097, "action_text": "place the yellow-capped bottled soy sauce into the shopping cart", "skill": "Place", "language_memory": "The robot decreased its height, picked up the yellow-capped bottled soy sauce from the shelf, increased its height, and bent its body downward while rotating its waist."}, {"start_frame": 1097, "end_frame": 1434, "action_text": "place the yellow-capped bottled soy sauce into the shopping cart", "skill": "Place", "language_memory": "The robot decreased its height, picked up the yellow-capped bottled soy sauce from the shelf, increased its height, bent its body downward while rotating its waist, and placed the yellow-capped bottled soy sauce into the shopping cart."}, {"start_frame": 1434, "end_frame": 1538, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot decreased its height, picked up the yellow-capped bottled soy sauce from the shelf, increased its height, bent its body downward while rotating its waist, and placed the yellow-capped bottled soy sauce into the shopping cart."}, {"start_frame": 1538, "end_frame": 1668, "action_text": "decrease height", "skill": "AdjustPosture", "language_memory": "The robot decreased its height, picked up yellow-capped bottled soy sauce from the shelf, increased its height, bent its body downward while rotating its waist, and placed the yellow-capped bottled soy sauce into the shopping cart before adjusting its posture."}, {"start_frame": 1668, "end_frame": 1876, "action_text": "pick up the yellow-capped bottled soy sauce from the shelf", "skill": "Pick", "language_memory": "The robot decreased its height, picked up yellow-capped bottled soy sauce from the shelf, increased its height, bent its body downward while rotating its waist, and placed the yellow-capped bottled soy sauce into the shopping cart."}, {"start_frame": 1876, "end_frame": 2130, "action_text": "pick up the yellow-capped bottled soy sauce from the shelf", "skill": "Pick", "language_memory": "The robot has picked up multiple yellow-capped bottled soy sauces from the shelf and placed them into the shopping cart."}, {"start_frame": 2130, "end_frame": 2205, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot has picked up multiple yellow-capped bottled soy sauces from the shelf and placed them into the shopping cart."}, {"start_frame": 2205, "end_frame": 2259, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot has adjusted its posture, decreased height, picked up multiple yellow-capped bottled soy sauces from the shelf, increased height, bent its body while rotating its waist, and placed the bottles into the shopping cart."}, {"start_frame": 2259, "end_frame": 2459, "action_text": "place the yellow-capped bottled soy sauce into the shopping cart", "skill": "Place", "language_memory": "The robot has decreased height, picked up multiple yellow-capped bottled soy sauces from the shelf, increased height, placed the bottles into the shopping cart, and adjusted its posture."}, {"start_frame": 2459, "end_frame": 2620, "action_text": "place the yellow-capped bottle of soy sauce into the shopping cart", "skill": "Place", "language_memory": "The robot has successfully restocked multiple yellow-capped bottled soy sauces by picking them up from the shelf and placing them into the shopping cart."}, {"start_frame": 2620, "end_frame": 2693, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot has successfully restocked multiple yellow-capped bottled soy sauces by picking them up from the shelf and placing them into the shopping cart."}], "detailed_task_instruction": ["Restock the yellow-capped bottled soy sauce by first adjusting your posture and decreasing your height. Bend your body downward while rotating your waist to reach the shelf, then pick up the bottles one by one. Place each picked-up bottle into the shopping cart. Repeat this process of adjusting your posture, lowering your height, bending down, picking up the soy sauce from the shelf, and placing it into the cart until all bottles are restocked. Finally, adjust your robot posture to complete the task."]}
{"task_id": "task_3405", "episode_index": 5, "video_path": "task_3405/videos/chunk-000/{video_key}/episode_000005.mp4", "tasks": ["Restocking the bottled soy sauce."], "length": 2960, "action_config": [{"start_frame": 20, "end_frame": 112, "action_text": "decrease height", "skill": "AdjustPosture", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 112, "end_frame": 341, "action_text": "pick up the yellow-capped soy sauce from the shelf", "skill": "Pick", "language_memory": "The robot has decreased its height."}, {"start_frame": 341, "end_frame": 589, "action_text": "pick up the yellow-capped bottled soy sauce from the shelf", "skill": "Pick", "language_memory": "The robot decreased its height and picked up the yellow-capped soy sauce from the shelf."}, {"start_frame": 589, "end_frame": 675, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot decreased its height and picked up two yellow-capped bottled soy sauces from the shelf."}, {"start_frame": 675, "end_frame": 770, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot decreased its height, adjusted its posture, and picked up two yellow-capped bottled soy sauces from the shelf."}, {"start_frame": 770, "end_frame": 1012, "action_text": "place the yellow-capped bottled soy sauce into the shopping cart", "skill": "Place", "language_memory": "The robot decreased its height, adjusted its posture, bent over, and picked up two yellow-capped bottled soy sauces from the shelf."}, {"start_frame": 1012, "end_frame": 1295, "action_text": "place the yellow-capped bottled soy sauce into the shopping cart", "skill": "Place", "language_memory": "The robot decreased its height, picked up yellow-capped bottled soy sauce from the shelf, adjusted its posture, bent over, and placed the soy sauce into the shopping cart."}, {"start_frame": 1295, "end_frame": 1392, "action_text": "the input action text describes a body movement (\"lift your waist while rotating it\") rather than a manipulation task involving an object to be picked up or placed. therefore, it cannot be rewritten into the specified \"pick up the x\" or \"place the x...\" format without inventing objects or actions, which violates the rules. no valid output sentence can be generated", "skill": "Pick", "language_memory": "The robot decreased its height, adjusted its posture, bent over, and placed two yellow-capped bottled soy sauces into the shopping cart."}, {"start_frame": 1392, "end_frame": 1578, "action_text": "decrease height", "skill": "AdjustPosture", "language_memory": "The robot has decreased its height, picked up two yellow-capped bottled soy sauces from the shelf, adjusted its posture, bent over, and placed both bottles into the shopping cart."}, {"start_frame": 1578, "end_frame": 1933, "action_text": "pick up the yellow-capped soy sauce from the shelf", "skill": "Pick", "language_memory": "The robot decreased its height, picked up yellow-capped bottled soy sauce from the shelf, adjusted its posture, bent over, and placed the soy sauce into the shopping cart."}, {"start_frame": 1933, "end_frame": 2299, "action_text": "pick up the yellow-capped bottled soy sauce from the shelf", "skill": "Pick", "language_memory": "The robot has picked up multiple yellow-capped bottled soy sauces from the shelf and placed them into the shopping cart."}, {"start_frame": 2299, "end_frame": 2485, "action_text": "bend the waist downward while rotating it", "skill": "AdjustPosture", "language_memory": "The robot has decreased its height, adjusted its posture, bent over, and picked up multiple yellow-capped bottled soy sauces from the shelf, placing them into the shopping cart."}, {"start_frame": 2485, "end_frame": 2668, "action_text": "place the yellow-capped bottled soy sauce into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up multiple yellow-capped bottled soy sauces from the shelf and placed them into the shopping cart."}, {"start_frame": 2668, "end_frame": 2889, "action_text": "place the yellow-capped bottle of soy sauce into the shopping cart", "skill": "Place", "language_memory": "The robot has successfully picked up multiple yellow-capped bottled soy sauces from the shelf and placed them into the shopping cart."}, {"start_frame": 2889, "end_frame": 2959, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot has successfully picked up multiple yellow-capped bottled soy sauces from the shelf and placed them into the shopping cart."}], "detailed_task_instruction": ["Adjust the robot posture and bend over to decrease height. Pick up the yellow-capped bottled soy sauce from the shelf. Place the yellow-capped bottled soy sauce into the shopping cart. Repeat the process of adjusting the robot posture, bending the waist downward while rotating it, picking up the yellow-capped bottled soy sauce from the shelf, and placing it into the shopping cart. Finally, adjust the robot posture again to complete the restocking of the bottled soy sauce."]}
{"task_id": "task_3405", "episode_index": 6, "video_path": "task_3405/videos/chunk-000/{video_key}/episode_000006.mp4", "tasks": ["Restocking the bottled soy sauce."], "length": 2441, "action_config": [{"start_frame": 0, "end_frame": 113, "action_text": "decrease height", "skill": "AdjustPosture", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 113, "end_frame": 386, "action_text": "pick up the yellow-capped bottled soy sauce from the shelf", "skill": "Pick", "language_memory": "The robot has decreased its height."}, {"start_frame": 386, "end_frame": 650, "action_text": "pick up the yellow-capped bottled soy sauce from the shelf", "skill": "Pick", "language_memory": "The robot decreased its height and picked up the yellow-capped bottled soy sauce from the shelf."}, {"start_frame": 650, "end_frame": 746, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot decreased its height and picked up the yellow-capped bottled soy sauce from the shelf."}, {"start_frame": 746, "end_frame": 812, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot decreased its height, picked up the yellow-capped bottled soy sauce from the shelf, and adjusted its posture."}, {"start_frame": 812, "end_frame": 965, "action_text": "place the soy sauce with the yellow cap into the shopping cart", "skill": "Place", "language_memory": "The robot decreased its height, picked up the yellow-capped bottled soy sauce from the shelf, adjusted its posture, and bent over."}, {"start_frame": 965, "end_frame": 1208, "action_text": "place the yellow-capped bottled soy sauce into the shopping cart", "skill": "Place", "language_memory": "The robot decreased its height, picked up the yellow-capped bottled soy sauce from the shelf, adjusted its posture, bent over, and placed the soy sauce into the shopping cart."}, {"start_frame": 1208, "end_frame": 1457, "action_text": "rotate the waist while lowering the body", "skill": "Rotate", "language_memory": "The robot decreased its height, picked up the yellow-capped bottled soy sauce from the shelf, adjusted its posture, bent over, and placed the soy sauce into the shopping cart."}, {"start_frame": 1457, "end_frame": 1619, "action_text": "pick up the yellow-capped bottled soy sauce from the shelf", "skill": "Pick", "language_memory": "The robot has decreased its height, picked up yellow-capped bottled soy sauce from the shelf, adjusted its posture, bent over, and placed the soy sauce into the shopping cart."}, {"start_frame": 1619, "end_frame": 1820, "action_text": "pick up the yellow-capped bottled soy sauce from the shelf", "skill": "Pick", "language_memory": "The robot has picked up multiple yellow-capped bottled soy sauces from the shelf and placed them into the shopping cart."}, {"start_frame": 1820, "end_frame": 1981, "action_text": "bend your waist downward while rotating it", "skill": "AdjustPosture", "language_memory": "The robot has picked up multiple yellow-capped bottled soy sauces from the shelf and placed them into the shopping cart."}, {"start_frame": 1981, "end_frame": 2138, "action_text": "place the yellow-capped bottled soy sauce into the shopping cart", "skill": "Place", "language_memory": "The robot has successfully picked up multiple yellow-capped bottled soy sauces from the shelf and placed them into the shopping cart."}, {"start_frame": 2138, "end_frame": 2391, "action_text": "place the yellow-capped bottled soy sauce into the shopping cart", "skill": "Place", "language_memory": "The robot has successfully picked up multiple yellow-capped bottled soy sauces from the shelf and placed them into the shopping cart."}, {"start_frame": 2391, "end_frame": 2440, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has successfully picked up multiple yellow-capped bottled soy sauces from the shelf and placed them into the shopping cart."}], "detailed_task_instruction": ["Restock the bottled soy sauce by first adjusting your posture to decrease height, bending over, and rotating your waist while lowering your body. Proceed to pick up multiple yellow-capped bottled soy sauces from the shelf, ensuring you rotate your waist and bend your waist downward during the retrieval process as needed. Once the bottles are collected, place each yellow-capped bottled soy sauce into the shopping cart. Continue this sequence of picking up the soy sauce from the shelf and placing it into the cart until the restocking task is complete."]}
{"task_id": "task_3405", "episode_index": 7, "video_path": "task_3405/videos/chunk-000/{video_key}/episode_000007.mp4", "tasks": ["Restocking the bottled soy sauce."], "length": 2474, "action_config": [{"start_frame": 50, "end_frame": 140, "action_text": "decrease height", "skill": "AdjustPosture", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 140, "end_frame": 332, "action_text": "pick up the yellow-capped soy sauce from the shelf", "skill": "Pick", "language_memory": "The robot has decreased its height."}, {"start_frame": 332, "end_frame": 534, "action_text": "pick up the yellow-capped bottled soy sauce from the shelf", "skill": "Pick", "language_memory": "The robot decreased its height and picked up the yellow-capped soy sauce from the shelf."}, {"start_frame": 534, "end_frame": 616, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot decreased its height and picked up two yellow-capped bottled soy sauces from the shelf."}, {"start_frame": 616, "end_frame": 697, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot decreased its height, adjusted its posture, and picked up two yellow-capped bottled soy sauces from the shelf."}, {"start_frame": 697, "end_frame": 926, "action_text": "place the yellow-capped bottle of soy sauce into the shopping cart", "skill": "Place", "language_memory": "The robot decreased its height, adjusted its posture, bent over, and picked up two yellow-capped bottled soy sauces from the shelf."}, {"start_frame": 926, "end_frame": 1168, "action_text": "place the yellow-capped bottled soy sauce into the shopping cart", "skill": "Place", "language_memory": "The robot decreased its height, picked up yellow-capped bottled soy sauce from the shelf, adjusted its posture, bent over, and placed the bottle into the shopping cart."}, {"start_frame": 1168, "end_frame": 1347, "action_text": "rotate the waist while lowering the body", "skill": "Rotate", "language_memory": "The robot decreased its height, adjusted its posture, and bent over to pick up two yellow-capped bottled soy sauces from the shelf, subsequently placing both into the shopping cart."}, {"start_frame": 1347, "end_frame": 1572, "action_text": "pick up the yellow-capped bottled soy sauce from the shelf", "skill": "Pick", "language_memory": "The robot has decreased its height, adjusted its posture, and bent over to pick up yellow-capped bottled soy sauce from the shelf, subsequently placing the bottles into the shopping cart."}, {"start_frame": 1572, "end_frame": 1768, "action_text": "pick up the yellow-capped bottled soy sauce from the shelf", "skill": "Pick", "language_memory": "The robot has adjusted its posture, decreased height, and bent over to pick up multiple yellow-capped bottled soy sauces from the shelf, subsequently placing them into the shopping cart."}, {"start_frame": 1768, "end_frame": 1958, "action_text": "bend your body downward while rotating your waist", "skill": "AdjustPosture", "language_memory": "The robot has adjusted its posture, decreased its height, and successfully picked up and placed multiple yellow-capped bottled soy sauces from the shelf into the shopping cart."}, {"start_frame": 1958, "end_frame": 2138, "action_text": "place the bottle of soy sauce with a yellow cap into the shopping cart", "skill": "Place", "language_memory": "The robot has successfully picked up multiple yellow-capped bottled soy sauces from the shelf and placed them into the shopping cart."}, {"start_frame": 2138, "end_frame": 2388, "action_text": "place the yellow-capped bottle of soy sauce into the shopping cart", "skill": "Place", "language_memory": "The robot has successfully picked up multiple yellow-capped bottled soy sauces from the shelf and placed them into the shopping cart."}, {"start_frame": 2388, "end_frame": 2473, "action_text": "rotate the waist upward", "skill": "Rotate", "language_memory": "The robot has successfully picked up multiple yellow-capped bottled soy sauces from the shelf and placed them into the shopping cart."}], "detailed_task_instruction": ["Adjust your posture by decreasing your height, bending over, and rotating your waist while lowering your body to reach the shelf. Pick up the yellow-capped bottled soy sauce from the shelf. Rotate your waist upward to stand upright. Place the yellow-capped bottle of soy sauce into the shopping cart. Repeat this sequence of bending, picking up the yellow-capped bottled soy sauce from the shelf, and placing it into the shopping cart for the remaining bottles until the restocking task is complete."]}
{"task_id": "task_3405", "episode_index": 8, "video_path": "task_3405/videos/chunk-000/{video_key}/episode_000008.mp4", "tasks": ["Restocking the bottled soy sauce."], "length": 2308, "action_config": [{"start_frame": 20, "end_frame": 131, "action_text": "decrease height", "skill": "AdjustPosture", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 131, "end_frame": 330, "action_text": "pick up the yellow-capped bottled soy sauce from the shelf", "skill": "Pick", "language_memory": "The robot has decreased its height."}, {"start_frame": 330, "end_frame": 529, "action_text": "pick up the yellow-capped bottle of soy sauce from the shelf", "skill": "Pick", "language_memory": "The robot decreased its height and picked up the yellow-capped bottled soy sauce from the shelf."}, {"start_frame": 529, "end_frame": 670, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot decreased its height and picked up two yellow-capped bottles of soy sauce from the shelf."}, {"start_frame": 670, "end_frame": 730, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot decreased its height, picked up two yellow-capped bottled soy sauces from the shelf, and adjusted its posture."}, {"start_frame": 730, "end_frame": 877, "action_text": "place the yellow-capped bottle of soy sauce into the shopping cart", "skill": "Place", "language_memory": "The robot decreased its height, adjusted its posture, bent over, and picked up two yellow-capped bottled soy sauces from the shelf."}, {"start_frame": 877, "end_frame": 1089, "action_text": "place the yellow-capped bottled soy sauce into the shopping cart", "skill": "Place", "language_memory": "The robot decreased its height, picked up two yellow-capped bottles of soy sauce from the shelf, adjusted its posture, bent over, and placed one bottle into the shopping cart."}, {"start_frame": 1089, "end_frame": 1298, "action_text": "rotate the waist while lowering the body", "skill": "Rotate", "language_memory": "The robot decreased its height, picked up two yellow-capped bottles of soy sauce from the shelf, adjusted its posture, bent over, and placed both bottles into the shopping cart."}, {"start_frame": 1298, "end_frame": 1479, "action_text": "pick up the yellow-capped bottled soy sauce from the shelf", "skill": "Pick", "language_memory": "The robot has decreased its height, picked up two yellow-capped bottles of soy sauce from the shelf, adjusted its posture, bent over, and placed both bottles into the shopping cart."}, {"start_frame": 1479, "end_frame": 1676, "action_text": "pick up the yellow-capped bottled soy sauce from the shelf", "skill": "Pick", "language_memory": "The robot has picked up multiple yellow-capped bottles of soy sauce from the shelf and placed them into the shopping cart."}, {"start_frame": 1676, "end_frame": 1807, "action_text": "bend your body downward while rotating your waist", "skill": "AdjustPosture", "language_memory": "The robot has picked up multiple yellow-capped bottles of soy sauce from the shelf and placed them into the shopping cart."}, {"start_frame": 1807, "end_frame": 2014, "action_text": "place the bottle of soy sauce with a yellow cap into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up multiple yellow-capped bottles of soy sauce from the shelf and placed them into the shopping cart."}, {"start_frame": 2014, "end_frame": 2199, "action_text": "place the yellow-capped bottled soy sauce into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up multiple yellow-capped bottles of soy sauce from the shelf and placed them into the shopping cart."}, {"start_frame": 2199, "end_frame": 2307, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot has successfully picked up multiple yellow-capped bottles of soy sauce from the shelf and placed them into the shopping cart."}], "detailed_task_instruction": ["Adjust your posture and bend over to reach the shelf. Pick up multiple yellow-capped bottles of soy sauce from the shelf, rotating your waist and lowering your body as needed to access them. Place each retrieved bottle into the shopping cart. Continue this process of picking up the soy sauce bottles from the shelf and placing them into the cart until the restocking task is complete."]}
{"task_id": "task_3405", "episode_index": 9, "video_path": "task_3405/videos/chunk-000/{video_key}/episode_000009.mp4", "tasks": ["Restocking the bottled soy sauce."], "length": 2182, "action_config": [{"start_frame": 40, "end_frame": 140, "action_text": "decrease height", "skill": "AdjustPosture", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 140, "end_frame": 297, "action_text": "pick up the yellow-capped bottled soy sauce from the shelf", "skill": "Pick", "language_memory": "The robot has decreased its height."}, {"start_frame": 297, "end_frame": 484, "action_text": "pick up the yellow-capped bottled soy sauce from the shelf", "skill": "Pick", "language_memory": "The robot decreased its height and picked up the yellow-capped bottled soy sauce from the shelf."}, {"start_frame": 484, "end_frame": 569, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot decreased its height and picked up the yellow-capped bottled soy sauce from the shelf."}, {"start_frame": 569, "end_frame": 654, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot decreased its height, picked up the yellow-capped bottled soy sauce from the shelf, and adjusted its posture."}, {"start_frame": 654, "end_frame": 805, "action_text": "place the yellow-capped bottle of soy sauce into the shopping cart", "skill": "Place", "language_memory": "The robot decreased its height, picked up the yellow-capped bottled soy sauce from the shelf, adjusted its posture, and bent over."}, {"start_frame": 805, "end_frame": 988, "action_text": "place the yellow-capped bottle of soy sauce into the shopping cart", "skill": "Place", "language_memory": "The robot decreased its height, picked up the yellow-capped bottled soy sauce from the shelf, adjusted its posture, bent over, and placed the bottle into the shopping cart."}, {"start_frame": 988, "end_frame": 1176, "action_text": "rotate the waist while lowering the body", "skill": "Rotate", "language_memory": "The robot decreased its height, picked up the yellow-capped bottled soy sauce from the shelf, adjusted its posture, bent over, and placed the bottle into the shopping cart."}, {"start_frame": 1176, "end_frame": 1328, "action_text": "pick up the yellow-capped bottled soy sauce from the shelf", "skill": "Pick", "language_memory": "The robot decreased its height, picked up yellow-capped bottled soy sauce from the shelf, adjusted its posture, bent over, and placed the bottle into the shopping cart."}, {"start_frame": 1328, "end_frame": 1544, "action_text": "pick up the yellow-capped bottled soy sauce from the shelf", "skill": "Pick", "language_memory": "The robot has picked up multiple yellow-capped bottled soy sauces from the shelf and placed them into the shopping cart."}, {"start_frame": 1544, "end_frame": 1691, "action_text": "bend your body downward while rotating your waist", "skill": "AdjustPosture", "language_memory": "The robot has picked up multiple yellow-capped bottled soy sauces from the shelf and placed them into the shopping cart."}, {"start_frame": 1691, "end_frame": 1874, "action_text": "place the bottle of soy sauce with a yellow cap into the shopping cart", "skill": "Place", "language_memory": "The robot has successfully picked up multiple yellow-capped bottled soy sauces from the shelf and placed them into the shopping cart."}, {"start_frame": 1874, "end_frame": 2087, "action_text": "place the yellow-capped bottled soy sauce into the shopping cart", "skill": "Place", "language_memory": "The robot has successfully picked up multiple yellow-capped bottled soy sauces from the shelf and placed them into the shopping cart."}, {"start_frame": 2087, "end_frame": 2181, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot successfully picked up multiple yellow-capped bottled soy sauces from the shelf and placed them into the shopping cart."}], "detailed_task_instruction": ["Restock the yellow-capped bottled soy sauce by first adjusting your posture and bending over to reach the shelf. Pick up multiple bottles of soy sauce from the shelf, rotating your waist and lowering your body as needed to grasp them. Once a bottle is secured, place it into the shopping cart. Repeat this process of picking up bottles from the shelf and placing them into the cart until the restocking is complete, ensuring you adjust your posture throughout the task to maintain balance and reach."]}
{"task_id": "task_3405", "episode_index": 10, "video_path": "task_3405/videos/chunk-000/{video_key}/episode_000010.mp4", "tasks": ["Restocking the bottled soy sauce."], "length": 2262, "action_config": [{"start_frame": 25, "end_frame": 115, "action_text": "decrease height", "skill": "AdjustPosture", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 115, "end_frame": 304, "action_text": "pick up the yellow-capped soy sauce from the shelf", "skill": "Pick", "language_memory": "The robot has decreased its height."}, {"start_frame": 304, "end_frame": 500, "action_text": "pick up the yellow-capped bottled soy sauce from the shelf", "skill": "Pick", "language_memory": "The robot decreased its height and picked up the yellow-capped soy sauce from the shelf."}, {"start_frame": 500, "end_frame": 596, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot decreased its height and picked up two yellow-capped bottled soy sauces from the shelf."}, {"start_frame": 596, "end_frame": 680, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot decreased its height, adjusted its posture, and picked up two yellow-capped bottled soy sauces from the shelf."}, {"start_frame": 680, "end_frame": 841, "action_text": "place the yellow-capped bottled soy sauce into the shopping cart", "skill": "Place", "language_memory": "The robot decreased its height, adjusted its posture, bent over, and picked up two yellow-capped bottled soy sauces from the shelf."}, {"start_frame": 841, "end_frame": 1126, "action_text": "place the yellow-capped bottle of soy sauce into the shopping cart", "skill": "Place", "language_memory": "The robot decreased its height, picked up yellow-capped bottled soy sauce from the shelf, adjusted its posture, bent over, and placed the soy sauce into the shopping cart."}, {"start_frame": 1126, "end_frame": 1230, "action_text": "pick up the waist", "skill": "Pick", "language_memory": "The robot decreased its height, adjusted its posture, bent over, and placed two yellow-capped bottled soy sauces into the shopping cart."}, {"start_frame": 1230, "end_frame": 1321, "action_text": "decrease height", "skill": "AdjustPosture", "language_memory": "The robot has decreased its height, adjusted its posture, and bent over to pick up yellow-capped bottled soy sauce from the shelf, subsequently placing the bottles into the shopping cart."}, {"start_frame": 1321, "end_frame": 1468, "action_text": "pick up the yellow-capped soy sauce from the shelf", "skill": "Pick", "language_memory": "The robot has decreased its height, adjusted its posture, and successfully placed two yellow-capped bottled soy sauces into the shopping cart."}, {"start_frame": 1468, "end_frame": 1629, "action_text": "pick up the yellow-capped bottled soy sauce from the shelf", "skill": "Pick", "language_memory": "The robot has picked up multiple yellow-capped soy sauce bottles from the shelf and placed them into the shopping cart."}, {"start_frame": 1629, "end_frame": 1793, "action_text": "bend your body downward while rotating your waist", "skill": "AdjustPosture", "language_memory": "The robot has successfully picked up multiple yellow-capped bottled soy sauces from the shelf and placed them into the shopping cart."}, {"start_frame": 1793, "end_frame": 1969, "action_text": "place the yellow-capped bottled soy sauce into the shopping cart", "skill": "Place", "language_memory": "The robot has successfully picked up multiple yellow-capped bottled soy sauces from the shelf and placed them into the shopping cart."}, {"start_frame": 1969, "end_frame": 2193, "action_text": "place the yellow-capped bottled soy sauce into the shopping cart", "skill": "Place", "language_memory": "The robot has successfully picked up multiple yellow-capped bottled soy sauces from the shelf and placed them into the shopping cart."}, {"start_frame": 2193, "end_frame": 2261, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot has successfully picked up multiple yellow-capped bottled soy sauces from the shelf and placed them into the shopping cart."}], "detailed_task_instruction": ["Adjust your posture and bend downward to reach the shelf. Pick up the yellow-capped bottled soy sauce from the shelf. Place the bottle into the shopping cart. Repeat this process by adjusting your posture, bending over, and picking up additional yellow-capped bottled soy sauce bottles from the shelf before placing each one into the shopping cart until the restocking is complete."]}
{"task_id": "task_3405", "episode_index": 11, "video_path": "task_3405/videos/chunk-000/{video_key}/episode_000011.mp4", "tasks": ["Restocking the bottled soy sauce."], "length": 2091, "action_config": [{"start_frame": 10, "end_frame": 105, "action_text": "decrease height", "skill": "AdjustPosture", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 105, "end_frame": 325, "action_text": "pick up the yellow-capped soy sauce from the shelf", "skill": "Pick", "language_memory": "The robot has decreased its height."}, {"start_frame": 325, "end_frame": 501, "action_text": "pick up the yellow-capped bottled soy sauce from the shelf", "skill": "Pick", "language_memory": "The robot decreased its height and picked up the yellow-capped soy sauce from the shelf."}, {"start_frame": 501, "end_frame": 584, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot decreased its height and picked up two yellow-capped bottled soy sauces from the shelf."}, {"start_frame": 584, "end_frame": 677, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot decreased its height, adjusted its posture, and picked up two yellow-capped bottled soy sauces from the shelf."}, {"start_frame": 677, "end_frame": 838, "action_text": "place the yellow-capped bottled soy sauce into the shopping cart", "skill": "Place", "language_memory": "The robot decreased its height, adjusted its posture, bent over, and picked up two yellow-capped bottled soy sauces from the shelf."}, {"start_frame": 838, "end_frame": 995, "action_text": "place the yellow-capped bottled soy sauce into the shopping cart", "skill": "Place", "language_memory": "The robot decreased its height, picked up yellow-capped bottled soy sauce from the shelf, adjusted its posture, bent over, and placed the soy sauce into the shopping cart."}, {"start_frame": 995, "end_frame": 1095, "action_text": "the input action text describes a body movement (\"lift your waist while rotating it\") rather than a manipulation task involving an object to be picked up or placed. therefore, it cannot be rewritten into the specified \"pick up the x\" or \"place the x...\" format without inventing objects or actions, which violates the rules. no valid output sentence can be generated", "skill": "Pick", "language_memory": "The robot decreased its height, adjusted its posture, bent over, and placed two yellow-capped bottled soy sauces into the shopping cart."}, {"start_frame": 1095, "end_frame": 1177, "action_text": "decrease height", "skill": "AdjustPosture", "language_memory": "The robot has decreased its height, picked up two yellow-capped bottled soy sauces from the shelf, adjusted its posture, bent over, and placed both bottles into the shopping cart."}, {"start_frame": 1177, "end_frame": 1378, "action_text": "pick up the yellow-capped bottled soy sauce from the shelf", "skill": "Pick", "language_memory": "The robot decreased its height, picked up yellow-capped bottled soy sauce from the shelf, adjusted its posture, bent over, and placed the soy sauce into the shopping cart."}, {"start_frame": 1378, "end_frame": 1579, "action_text": "pick up the yellow-capped bottled soy sauce from the shelf", "skill": "Pick", "language_memory": "The robot has picked up multiple yellow-capped bottled soy sauces from the shelf and placed them into the shopping cart."}, {"start_frame": 1579, "end_frame": 1725, "action_text": "bend your body downward while rotating your waist", "skill": "AdjustPosture", "language_memory": "The robot has picked up multiple yellow-capped bottled soy sauces from the shelf and placed them into the shopping cart."}, {"start_frame": 1725, "end_frame": 1897, "action_text": "place the yellow-capped bottle of soy sauce into the shopping cart", "skill": "Place", "language_memory": "The robot has successfully picked up multiple yellow-capped bottled soy sauces from the shelf and placed them into the shopping cart."}, {"start_frame": 1897, "end_frame": 2039, "action_text": "place the yellow-capped bottle of soy sauce into the shopping cart", "skill": "Place", "language_memory": "The robot has successfully picked up multiple yellow-capped bottled soy sauces from the shelf and placed them into the shopping cart."}, {"start_frame": 2039, "end_frame": 2090, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot has successfully picked up multiple yellow-capped bottled soy sauces from the shelf and placed them into the shopping cart."}], "detailed_task_instruction": ["Adjust the robot posture and bend over to decrease height. Pick up the yellow-capped bottled soy sauce from the shelf and place it into the shopping cart. Repeat this process to restock additional bottles. Finally, adjust the robot posture again to complete the task."]}
{"task_id": "task_3405", "episode_index": 12, "video_path": "task_3405/videos/chunk-000/{video_key}/episode_000012.mp4", "tasks": ["Restocking the bottled soy sauce."], "length": 2142, "action_config": [{"start_frame": 0, "end_frame": 101, "action_text": "decrease height", "skill": "AdjustPosture", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 101, "end_frame": 255, "action_text": "pick up the yellow-capped bottled soy sauce from the shelf", "skill": "Pick", "language_memory": "The robot has decreased its height."}, {"start_frame": 255, "end_frame": 489, "action_text": "pick up the yellow-capped bottled soy sauce from the shelf", "skill": "Pick", "language_memory": "The robot decreased its height and picked up the yellow-capped bottled soy sauce from the shelf."}, {"start_frame": 489, "end_frame": 573, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot decreased its height and picked up the yellow-capped bottled soy sauce from the shelf."}, {"start_frame": 573, "end_frame": 659, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot decreased its height, picked up the yellow-capped bottled soy sauce from the shelf, and adjusted its posture."}, {"start_frame": 659, "end_frame": 839, "action_text": "place the yellow-capped bottled soy sauce into the shopping cart", "skill": "Place", "language_memory": "The robot decreased its height, picked up the yellow-capped bottled soy sauce from the shelf, adjusted its posture, and bent over."}, {"start_frame": 839, "end_frame": 1132, "action_text": "place the bottled soy sauce with yellow cap into the shopping cart", "skill": "Place", "language_memory": "The robot decreased its height, picked up the yellow-capped bottled soy sauce from the shelf, adjusted its posture, bent over, and placed the bottle into the shopping cart."}, {"start_frame": 1132, "end_frame": 1230, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot decreased its height, picked up the yellow-capped bottled soy sauce from the shelf, adjusted its posture, bent over, and placed the bottled soy sauce into the shopping cart."}, {"start_frame": 1230, "end_frame": 1298, "action_text": "decrease height", "skill": "AdjustPosture", "language_memory": "The robot picked up the yellow-capped bottled soy sauce from the shelf and placed it into the shopping cart."}, {"start_frame": 1298, "end_frame": 1450, "action_text": "pick up the yellow-capped bottled soy sauce from the shelf", "skill": "Pick", "language_memory": "The robot decreased its height, picked up yellow-capped bottled soy sauce from the shelf, adjusted its posture, bent over, and placed the bottled soy sauce into the shopping cart."}, {"start_frame": 1450, "end_frame": 1628, "action_text": "pick up the yellow-capped bottled soy sauce from the shelf", "skill": "Pick", "language_memory": "The robot has decreased its height, picked up multiple yellow-capped bottled soy sauces from the shelf, adjusted its posture, bent over, and placed the soy sauces into the shopping cart."}, {"start_frame": 1628, "end_frame": 1767, "action_text": "bend the body downward while rotating the waist", "skill": "AdjustPosture", "language_memory": "The robot has decreased its height, adjusted its posture, bent over, and picked up multiple yellow-capped bottled soy sauces from the shelf, subsequently placing them into the shopping cart."}, {"start_frame": 1767, "end_frame": 1914, "action_text": "place the yellow-capped bottled soy sauce into the shopping cart", "skill": "Place", "language_memory": "The robot has decreased its height, adjusted its posture, bent over, and picked up multiple yellow-capped bottled soy sauces from the shelf, subsequently placing them into the shopping cart."}, {"start_frame": 1914, "end_frame": 2072, "action_text": "place the bottle of soy sauce with a yellow cap into the shopping cart", "skill": "Place", "language_memory": "The robot successfully decreased its height, picked up multiple yellow-capped bottled soy sauces from the shelf, adjusted its posture, and placed all collected bottles into the shopping cart."}, {"start_frame": 2072, "end_frame": 2141, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot has successfully picked up multiple yellow-capped bottled soy sauces from the shelf and placed them into the shopping cart."}], "detailed_task_instruction": ["Restock the shopping cart with multiple bottles of soy sauce featuring yellow caps. Begin by adjusting your posture and decreasing your height to reach the shelf. Pick up the first bottle of yellow-capped soy sauce, then adjust your posture again before bending over to place it into the shopping cart. Next, decrease your height once more to retrieve a second bottle from the shelf. While rotating your waist, bend your body downward to pick up a third bottle. Finally, adjust your posture and place this last bottle of yellow-capped soy sauce into the shopping cart to complete the restocking process."]}
{"task_id": "task_3477", "episode_index": 0, "video_path": "task_3477/videos/chunk-000/{video_key}/episode_000000.mp4", "tasks": ["Restocking the bagged snack."], "length": 2378, "action_config": [{"start_frame": 240, "end_frame": 410, "action_text": "bend at the waist while lowering the body", "skill": "AdjustPosture", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 410, "end_frame": 786, "action_text": "pick up the red bagged snack from the shopping cart", "skill": "Pick", "language_memory": "The robot bent at the waist and lowered its body."}, {"start_frame": 786, "end_frame": 1264, "action_text": "pick up the yellow bagged snack from the shopping cart", "skill": "Pick", "language_memory": "The robot bent at the waist and picked up the red bagged snack from the shopping cart."}, {"start_frame": 1264, "end_frame": 1454, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot bent at the waist and picked up red and yellow bagged snacks from the shopping cart."}, {"start_frame": 1454, "end_frame": 1719, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot bent at the waist, picked up the red and yellow bagged snacks from the shopping cart, and adjusted its posture."}, {"start_frame": 1719, "end_frame": 1855, "action_text": "place the red packaged snacks on the shelf", "skill": "Place", "language_memory": "The robot bent at the waist, picked up red and yellow bagged snacks from the shopping cart, and adjusted its posture."}, {"start_frame": 1855, "end_frame": 2018, "action_text": "hand over the yellow bagged snack", "skill": "Handover", "language_memory": "The robot bent at the waist, picked up red and yellow bagged snacks from the shopping cart, adjusted its posture, and placed the red packaged snacks on the shelf."}, {"start_frame": 2018, "end_frame": 2169, "action_text": "place the yellow packaged snacks on the shelf", "skill": "Place", "language_memory": "The robot bent at the waist, picked up red and yellow bagged snacks from the shopping cart, adjusted its posture, and placed the red snacks on the shelf while handing over the yellow snack."}, {"start_frame": 2169, "end_frame": 2366, "action_text": "place the yellow bagged snacks on the target", "skill": "Place", "language_memory": "The robot bent at the waist, picked up red and yellow bagged snacks from the shopping cart, adjusted its posture, and placed both snacks on the shelf."}], "detailed_task_instruction": ["Restock the bagged snacks by first bending at the waist to lower your body, then picking up the red bagged snack and the yellow bagged snack from the shopping cart. Adjust your posture and bend over to place the red packaged snacks on the shelf. Hand over the yellow bagged snack and subsequently place the yellow packaged snacks on the shelf, ensuring the yellow bagged snacks are positioned on the target."]}
{"task_id": "task_3477", "episode_index": 1, "video_path": "task_3477/videos/chunk-000/{video_key}/episode_000001.mp4", "tasks": ["Restocking the bagged snack."], "length": 2042, "action_config": [{"start_frame": 48, "end_frame": 209, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 209, "end_frame": 394, "action_text": "bend at the waist while lowering the body", "skill": "AdjustPosture", "language_memory": "The robot rotated its waist."}, {"start_frame": 394, "end_frame": 941, "action_text": "pick up the white bagged snack from the shopping cart", "skill": "Pick", "language_memory": "The robot rotated its waist and bent at the waist while lowering its body."}, {"start_frame": 941, "end_frame": 1261, "action_text": "pick up the green bagged snack from the shopping cart", "skill": "Pick", "language_memory": "The robot rotated its waist, bent down, and picked up a white bagged snack from the shopping cart."}, {"start_frame": 1261, "end_frame": 1471, "action_text": "pick up the object", "skill": "Pick", "language_memory": "The robot rotated its waist, bent down, and picked up white and green bagged snacks from the shopping cart."}, {"start_frame": 1471, "end_frame": 1675, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot rotated its waist, bent down, and picked up white, green, and other bagged snacks from the shopping cart."}, {"start_frame": 1675, "end_frame": 1873, "action_text": "place the white packaged snacks on the shelf", "skill": "Place", "language_memory": "The robot rotated its waist, lowered its body, and picked up white and green bagged snacks from the shopping cart."}, {"start_frame": 1873, "end_frame": 2029, "action_text": "place the green packaged snacks on the shelf", "skill": "Place", "language_memory": "The robot rotated its waist, lowered its body, picked up white and green bagged snacks from the shopping cart, and placed the white packaged snacks on the shelf."}], "detailed_task_instruction": ["Rotate your waist and bend at the waist while lowering your body to reach the shopping cart. Pick up the white bagged snack and the green bagged snack from the cart. Bend over slightly to access the shelf, then place the white packaged snacks on the shelf followed by the green packaged snacks. Ensure all items are securely positioned on the shelf to complete the restocking process."]}
{"task_id": "task_3477", "episode_index": 2, "video_path": "task_3477/videos/chunk-000/{video_key}/episode_000002.mp4", "tasks": ["Restocking the bagged snack."], "length": 4315, "action_config": [{"start_frame": 20, "end_frame": 606, "action_text": "wipe the shelves with a cloth", "skill": "Wipe", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 606, "end_frame": 715, "action_text": "hand over the cloth", "skill": "Handover", "language_memory": "The shelves have been wiped with a cloth."}, {"start_frame": 715, "end_frame": 1210, "action_text": "wipe the shelves with a cloth", "skill": "Wipe", "language_memory": "The robot wiped the shelves with a cloth and handed the cloth over."}, {"start_frame": 1210, "end_frame": 1385, "action_text": "decrease height", "skill": "AdjustPosture", "language_memory": "The robot wiped the shelves with a cloth and handed the cloth over."}, {"start_frame": 1385, "end_frame": 1443, "action_text": "move to the chassis", "skill": "Navigate", "language_memory": "The robot wiped the shelves with a cloth, handed over the cloth, and decreased its height."}, {"start_frame": 1443, "end_frame": 1862, "action_text": "wipe the shelf with the rag", "skill": "Wipe", "language_memory": "The robot wiped the shelves with a cloth, handed over the cloth, decreased its height, and moved to the chassis."}, {"start_frame": 1862, "end_frame": 1981, "action_text": "hand over the cloth", "skill": "Handover", "language_memory": "The robot wiped the shelves with a cloth, handed over the cloth, decreased its height, moved to the chassis, and wiped the shelf with the rag."}, {"start_frame": 1981, "end_frame": 2434, "action_text": "wipe the shelf with the rag", "skill": "Wipe", "language_memory": "The robot wiped the shelves with a cloth, decreased its height, moved to the chassis, and handed over the cloth."}, {"start_frame": 2434, "end_frame": 2571, "action_text": "hand over the cloth", "skill": "Handover", "language_memory": "The robot wiped the shelves with a cloth and handed over the cloth multiple times."}, {"start_frame": 2571, "end_frame": 2913, "action_text": "wipe the shelves with a cloth", "skill": "Wipe", "language_memory": "The robot wiped the shelves with a cloth multiple times and handed over the cloth several times."}, {"start_frame": 2913, "end_frame": 2991, "action_text": "decrease height", "skill": "AdjustPosture", "language_memory": "The robot has wiped the shelves multiple times and handed over the cloth several times."}, {"start_frame": 2991, "end_frame": 3034, "action_text": "mobile chassis", "skill": "Navigate", "language_memory": "The robot has wiped the shelves multiple times with a cloth and adjusted its height."}, {"start_frame": 3034, "end_frame": 3084, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot wiped the shelves with a cloth multiple times, handed over the cloth, adjusted its height, moved to the chassis, and operated the mobile chassis."}, {"start_frame": 3084, "end_frame": 3497, "action_text": "wipe the shelves with a cloth", "skill": "Wipe", "language_memory": "The robot wiped the shelves with a cloth multiple times, handed over the cloth, adjusted its height, moved to the chassis, and bent over."}, {"start_frame": 3497, "end_frame": 3604, "action_text": "hand over the cloth", "skill": "Handover", "language_memory": "The robot repeatedly wiped the shelves with a cloth, handed over the cloth multiple times, adjusted its height, moved the mobile chassis, and bent over."}, {"start_frame": 3604, "end_frame": 4088, "action_text": "wipe the shelf with the rag", "skill": "Wipe", "language_memory": "The robot repeatedly wiped the shelves with a cloth, handed over the cloth multiple times, adjusted its height, moved the mobile chassis, and bent over."}, {"start_frame": 4088, "end_frame": 4273, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot repeatedly wiped the shelves with a cloth, handed over the cloth multiple times, adjusted its height, moved the mobile chassis, and bent over."}], "detailed_task_instruction": ["Clean the shelves by wiping them with a cloth, then hand over the cloth. Adjust the robot's height and move the chassis to access different areas. Continue wiping the shelves, handing over the cloth after each section, and bending over as needed to reach lower surfaces. Ensure all shelves are thoroughly cleaned by repeating the wiping and cloth handover process across multiple locations. Finally, adjust the robot's posture to complete the task."]}
{"task_id": "task_3477", "episode_index": 3, "video_path": "task_3477/videos/chunk-000/{video_key}/episode_000003.mp4", "tasks": ["Restocking the bagged snack."], "length": 1761, "action_config": [{"start_frame": 199, "end_frame": 453, "action_text": "bend the waist downward while lowering the body", "skill": "AdjustPosture", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 453, "end_frame": 742, "action_text": "pick up the white bagged snack from the shopping cart", "skill": "Pick", "language_memory": "The robot has bent its waist downward while lowering its body."}, {"start_frame": 742, "end_frame": 1056, "action_text": "pick up the red packaged snack from the shopping cart", "skill": "Pick", "language_memory": "The robot bent its waist downward and picked up the white bagged snack from the shopping cart."}, {"start_frame": 1056, "end_frame": 1216, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot lowered its body and picked up white and red bagged snacks from the shopping cart."}, {"start_frame": 1216, "end_frame": 1419, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot lowered its body, picked up a white bagged snack and a red packaged snack from the shopping cart, and adjusted its posture."}, {"start_frame": 1419, "end_frame": 1528, "action_text": "place the white packaged snacks on the shelf", "skill": "Place", "language_memory": "The robot bent its waist downward, picked up white and red bagged snacks from the shopping cart, and adjusted its posture."}, {"start_frame": 1528, "end_frame": 1760, "action_text": "place the red packaged snacks on the shelf", "skill": "Place", "language_memory": "The robot bent its waist, picked up white and red bagged snacks from the shopping cart, adjusted its posture, and placed the white packaged snacks on the shelf."}], "detailed_task_instruction": ["Bend your waist downward and lower your body to reach the shopping cart. Pick up the white bagged snack and the red packaged snack from the cart. Adjust your robot posture and bend over to access the shelf. Place the white packaged snacks on the shelf, followed by placing the red packaged snacks on the shelf to complete the restocking process."]}
{"task_id": "task_3477", "episode_index": 4, "video_path": "task_3477/videos/chunk-000/{video_key}/episode_000004.mp4", "tasks": ["Restocking the bagged snack."], "length": 2757, "action_config": [{"start_frame": 65, "end_frame": 605, "action_text": "wipe the shelves with a cloth", "skill": "Wipe", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 605, "end_frame": 697, "action_text": "hand over the cloth", "skill": "Handover", "language_memory": "The shelves have been wiped with a cloth."}, {"start_frame": 697, "end_frame": 1308, "action_text": "wipe the shelf with the rag", "skill": "Wipe", "language_memory": "The robot wiped the shelves with a cloth and handed the cloth over."}, {"start_frame": 1308, "end_frame": 1490, "action_text": "decrease height", "skill": "AdjustPosture", "language_memory": "The robot wiped the shelves with a cloth, handed over the cloth, and wiped the shelf with the rag."}, {"start_frame": 1490, "end_frame": 2095, "action_text": "wipe the shelf with the rag", "skill": "Wipe", "language_memory": "The robot wiped the shelves with a cloth, handed over the cloth, wiped the shelf with the rag, and decreased the height."}, {"start_frame": 2095, "end_frame": 2177, "action_text": "hand over the rag", "skill": "Handover", "language_memory": "The robot wiped the shelves with a cloth, handed over the cloth, and continued wiping the shelf with the rag."}, {"start_frame": 2177, "end_frame": 2756, "action_text": "wipe the shelf with the rag", "skill": "Wipe", "language_memory": "The robot wiped the shelves with a cloth and a rag, decreased its height, and handed over both the cloth and the rag."}], "detailed_task_instruction": ["Clean the shelves by first wiping them with a cloth, then handing the cloth over. Next, lower the shelf height and proceed to wipe the shelf with a rag. After wiping, hand the rag over, and finally, wipe the shelf with the rag one more time to complete the cleaning process before restocking the bagged snacks."]}
{"task_id": "task_3477", "episode_index": 5, "video_path": "task_3477/videos/chunk-000/{video_key}/episode_000005.mp4", "tasks": ["Restocking the bagged snack."], "length": 2146, "action_config": [{"start_frame": 217, "end_frame": 389, "action_text": "bend the waist downward while lowering the body", "skill": "AdjustPosture", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 389, "end_frame": 950, "action_text": "pick up the yellow bagged snack from the shopping cart", "skill": "Pick", "language_memory": "The robot has bent its waist downward while lowering its body."}, {"start_frame": 950, "end_frame": 1383, "action_text": "pick up the orange bagged snack from the shopping cart", "skill": "Pick", "language_memory": "The robot bent its waist downward and picked up the yellow bagged snack from the shopping cart."}, {"start_frame": 1383, "end_frame": 1470, "action_text": "increase height", "skill": "AdjustPosture", "language_memory": "The robot lowered its body and picked up yellow and orange bagged snacks from the shopping cart."}, {"start_frame": 1470, "end_frame": 1717, "action_text": "increase height", "skill": "AdjustPosture", "language_memory": "The robot lowered its body, picked up yellow and orange bagged snacks from the shopping cart, and increased its height."}, {"start_frame": 1717, "end_frame": 1905, "action_text": "place the yellow packaged snacks on the shelf", "skill": "Place", "language_memory": "The robot lowered its body, picked up yellow and orange bagged snacks from the shopping cart, and increased its height."}, {"start_frame": 1905, "end_frame": 2145, "action_text": "place the orange packaged snack onto the shelf", "skill": "Place", "language_memory": "The robot lowered its body, picked up yellow and orange bagged snacks from the shopping cart, stood up, and placed the yellow packaged snacks on the shelf."}], "detailed_task_instruction": ["Bend your waist downward to reach the shopping cart, then pick up the yellow bagged snack followed by the orange bagged snack. Straighten your body to stand upright and place the yellow packaged snacks on the shelf, then place the orange packaged snack onto the shelf."]}
{"task_id": "task_3477", "episode_index": 6, "video_path": "task_3477/videos/chunk-000/{video_key}/episode_000006.mp4", "tasks": ["Restocking the bagged snack."], "length": 4155, "action_config": [{"start_frame": 36, "end_frame": 85, "action_text": "move to the chassis", "skill": "Navigate", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 85, "end_frame": 344, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot has moved to the chassis."}, {"start_frame": 344, "end_frame": 870, "action_text": "wipe the shelf with the rag", "skill": "Wipe", "language_memory": "The robot has moved to the chassis and adjusted its posture."}, {"start_frame": 870, "end_frame": 1043, "action_text": "hand over the cloth", "skill": "Handover", "language_memory": "The robot moved to the chassis, adjusted its posture, and wiped the shelf with a rag."}, {"start_frame": 1043, "end_frame": 1678, "action_text": "wipe the shelf with the rag", "skill": "Wipe", "language_memory": "The robot moved to the chassis, adjusted its posture, wiped the shelf with a rag, and handed over the cloth."}, {"start_frame": 1678, "end_frame": 1866, "action_text": "pick up the object", "skill": "Pick", "language_memory": "The robot moved to the chassis, adjusted its posture, wiped the shelf with a rag, handed over the cloth, and then wiped the shelf again."}, {"start_frame": 1866, "end_frame": 1939, "action_text": "move to the chassis", "skill": "Navigate", "language_memory": "The robot moved to the chassis, adjusted its posture, wiped the shelf with a rag, handed over the cloth, wiped the shelf again, and picked up an object."}, {"start_frame": 1939, "end_frame": 2180, "action_text": "place the cleaning cloth on the shelf", "skill": "Place", "language_memory": "The robot moved to the chassis, adjusted its posture, wiped the shelf with a rag, handed over the cloth, and picked up an object."}, {"start_frame": 2180, "end_frame": 2378, "action_text": "pick up the blue bag of white sugar from the shelf", "skill": "Pick", "language_memory": "The robot adjusted its posture, wiped the shelf with a rag, handed over the cloth, picked up an object, and placed the cleaning cloth on the shelf."}, {"start_frame": 2378, "end_frame": 2498, "action_text": "decrease height", "skill": "AdjustPosture", "language_memory": "The robot adjusted its posture, wiped the shelf with a rag, handed over the cloth, placed the cleaning cloth back on the shelf, and picked up the blue bag of white sugar."}, {"start_frame": 2498, "end_frame": 2714, "action_text": "pick up the green bagged msg from the shelf", "skill": "Pick", "language_memory": "The robot adjusted its posture, wiped the shelf with a rag, handed over the cloth, placed the cleaning cloth back on the shelf, picked up a blue bag of white sugar from the shelf, and decreased its height."}, {"start_frame": 2714, "end_frame": 2886, "action_text": "move to the chassis", "skill": "Navigate", "language_memory": "The robot adjusted its posture, wiped the shelf, handed over the cloth, placed it back on the shelf, and picked up the blue bag of white sugar and the green bagged MSG from the shelf."}, {"start_frame": 2886, "end_frame": 3026, "action_text": "decrease height", "skill": "AdjustPosture", "language_memory": "The robot adjusted its posture, wiped the shelf, handed over the cloth, placed it back on the shelf, and picked up the blue bag of white sugar and the green bagged MSG before moving to the chassis."}, {"start_frame": 3026, "end_frame": 3367, "action_text": "place the green bagged msg into the cardboard box", "skill": "Place", "language_memory": "The robot adjusted its posture, wiped the shelf with a rag, handed over the cloth, placed it back on the shelf, and picked up the blue bag of white sugar and the green bagged MSG from the shelf."}, {"start_frame": 3367, "end_frame": 3517, "action_text": "hand over the blue bag of white sugar", "skill": "Handover", "language_memory": "The robot adjusted its posture, wiped the shelf, handed over the cloth, placed the cloth on the shelf, picked up the blue bag of white sugar and the green bagged MSG, and placed the MSG into the cardboard box."}, {"start_frame": 3517, "end_frame": 3704, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot adjusted its posture, wiped the shelf, placed the cleaning cloth on the shelf, picked up the blue bag of white sugar and the green bagged MSG, and handed over the blue bag of white sugar."}, {"start_frame": 3704, "end_frame": 3866, "action_text": "place the blue bag of white sugar into the cardboard box", "skill": "Place", "language_memory": "The robot adjusted its posture, wiped the shelf, placed the cleaning cloth on the shelf, picked up the blue bag of white sugar and the green bagged MSG, and placed the green bagged MSG into the cardboard box."}, {"start_frame": 3866, "end_frame": 3924, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot adjusted its posture, wiped the shelf, and successfully placed the blue bag of white sugar and the green bagged MSG into the cardboard box."}, {"start_frame": 3924, "end_frame": 4026, "action_text": "move to the chassis", "skill": "Navigate", "language_memory": "The robot adjusted its posture, wiped the shelf, and successfully placed the blue bag of white sugar and the green bagged MSG into the cardboard box."}, {"start_frame": 4026, "end_frame": 4154, "action_text": "increase height", "skill": "AdjustPosture", "language_memory": "The robot adjusted its posture, wiped the shelf, and successfully placed the blue bag of white sugar and the green bagged MSG into the cardboard box."}], "detailed_task_instruction": ["Move to the chassis and adjust your posture. Wipe the shelf with a rag, then hand the cloth over and place it on the shelf. Pick up the blue bag of white sugar and the green bagged MSG from the shelf. Move to the chassis, decrease your height, and place the green bagged MSG into the cardboard box. Hand over the blue bag of white sugar, bend over, and place it into the cardboard box. Finally, adjust your posture, move to the chassis, and increase your height."]}
{"task_id": "task_3477", "episode_index": 7, "video_path": "task_3477/videos/chunk-000/{video_key}/episode_000007.mp4", "tasks": ["Restocking the bagged snack."], "length": 1735, "action_config": [{"start_frame": 204, "end_frame": 374, "action_text": "bend the waist downward while lowering the body", "skill": "AdjustPosture", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 374, "end_frame": 651, "action_text": "pick up the yellow bagged snack from the shopping cart", "skill": "Pick", "language_memory": "The robot has bent its waist downward while lowering its body."}, {"start_frame": 651, "end_frame": 806, "action_text": "hand over the yellow bagged snack", "skill": "Handover", "language_memory": "The robot bent its waist downward and picked up the yellow bagged snack from the shopping cart."}, {"start_frame": 806, "end_frame": 1054, "action_text": "pick up the white bagged snack from the shopping cart", "skill": "Pick", "language_memory": "The robot lowered its body and handed over the yellow bagged snack."}, {"start_frame": 1054, "end_frame": 1223, "action_text": "as the height increases, the waist rises upward", "skill": "AdjustPosture", "language_memory": "The robot lowered its body, picked up and handed over a yellow bagged snack, and picked up a white bagged snack from the shopping cart."}, {"start_frame": 1223, "end_frame": 1549, "action_text": "place the white bagged snacks on the shelf", "skill": "Place", "language_memory": "The robot lowered its body, picked up and handed over a yellow bagged snack, then picked up a white bagged snack before rising back to a standing position."}, {"start_frame": 1549, "end_frame": 1721, "action_text": "place the yellow packaged snacks on the shelf", "skill": "Place", "language_memory": "The robot lowered its body, picked up and handed over a yellow bagged snack, then picked up and placed a white bagged snack on the shelf."}], "detailed_task_instruction": ["Bend your waist downward to lower your body, then pick up the yellow bagged snack from the shopping cart and hand it over. As your height increases and your waist rises upward, proceed to pick up the white bagged snack from the shopping cart. Finally, place both the white bagged snacks and the yellow packaged snacks onto the shelf to complete the restocking process."]}
{"task_id": "task_3477", "episode_index": 8, "video_path": "task_3477/videos/chunk-000/{video_key}/episode_000008.mp4", "tasks": ["Restocking the bagged snack."], "length": 4347, "action_config": [{"start_frame": 37, "end_frame": 555, "action_text": "wipe the shelf with the rag", "skill": "Wipe", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 555, "end_frame": 678, "action_text": "hand over the cloth", "skill": "Handover", "language_memory": "The shelf has been wiped with a rag."}, {"start_frame": 678, "end_frame": 1151, "action_text": "wipe the shelf with the rag", "skill": "Wipe", "language_memory": "The shelf was wiped with a rag and the cloth was handed over."}, {"start_frame": 1151, "end_frame": 1369, "action_text": "decrease height", "skill": "AdjustPosture", "language_memory": "The robot wiped the shelf with a rag and handed over the cloth."}, {"start_frame": 1369, "end_frame": 1798, "action_text": "wipe the shelves with a cloth", "skill": "Wipe", "language_memory": "The robot wiped the shelf with a rag, handed over the cloth, and decreased its height."}, {"start_frame": 1798, "end_frame": 1926, "action_text": "hand over the cloth", "skill": "Handover", "language_memory": "The robot wiped the shelves with a cloth and handed over the rag."}, {"start_frame": 1926, "end_frame": 2465, "action_text": "wipe the shelf with the rag", "skill": "Wipe", "language_memory": "The robot wiped the shelves with a cloth and handed over the cloth."}, {"start_frame": 2465, "end_frame": 2604, "action_text": "increase height", "skill": "AdjustPosture", "language_memory": "The robot has wiped the shelves multiple times using a rag and handed over the cloth."}, {"start_frame": 2604, "end_frame": 2777, "action_text": "place the cloth on the shelf", "skill": "Place", "language_memory": "The robot wiped the shelves with a cloth and adjusted its height."}, {"start_frame": 2777, "end_frame": 2960, "action_text": "pick up the green bagged msg from the shelf", "skill": "Pick", "language_memory": "The robot wiped the shelves with a cloth multiple times, adjusted its height, and placed the cloth on the shelf."}, {"start_frame": 2960, "end_frame": 3062, "action_text": "decrease height", "skill": "AdjustPosture", "language_memory": "The robot wiped the shelves with a cloth, adjusted its height, and picked up the green bagged MSG from the shelf."}, {"start_frame": 3062, "end_frame": 3195, "action_text": "pick up the yellow packaged chicken bouillon from the shelf", "skill": "Pick", "language_memory": "The robot wiped the shelves with a cloth, adjusted its height, and picked up the green bagged MSG from the shelf."}, {"start_frame": 3195, "end_frame": 3389, "action_text": "move to the chassis", "skill": "Navigate", "language_memory": "The robot wiped the shelves with a cloth, adjusted its height, and picked up the green bagged MSG and yellow packaged chicken bouillon from the shelf."}, {"start_frame": 3389, "end_frame": 3612, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot wiped the shelves with a cloth, handed over the cloth, adjusted its height, placed the cloth on the shelf, and picked up the green bagged MSG and yellow packaged chicken bouillon from the shelf before moving to the chassis."}, {"start_frame": 3612, "end_frame": 3784, "action_text": "place the green bagged msg into the cardboard box", "skill": "Place", "language_memory": "The robot wiped the shelves with a cloth, handed over the cloth, picked up the green bagged MSG and yellow packaged chicken bouillon from the shelf, and adjusted its posture."}, {"start_frame": 3784, "end_frame": 3874, "action_text": "hand over the yellow bag of chicken bouillon", "skill": "Handover", "language_memory": "The robot wiped the shelves with a cloth, handed over the cloth, adjusted its height and posture, and placed the green bagged MSG into the cardboard box."}, {"start_frame": 3874, "end_frame": 4035, "action_text": "place the yellow packaged chicken bouillon into the cardboard box", "skill": "Place", "language_memory": "The robot wiped the shelves with a cloth, adjusted its height and posture, and successfully placed the green bagged MSG and yellow chicken bouillon into the cardboard box."}, {"start_frame": 4035, "end_frame": 4177, "action_text": "mobile chassis", "skill": "Navigate", "language_memory": "The robot wiped the shelves with a cloth, picked up the green bagged MSG and yellow packaged chicken bouillon from the shelf, and placed both items into the cardboard box."}, {"start_frame": 4177, "end_frame": 4346, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot wiped the shelves with a cloth, picked up the green bagged MSG and yellow packaged chicken bouillon from the shelf, and placed both items into the cardboard box."}], "detailed_task_instruction": ["Clean the shelves thoroughly using a rag, adjusting the robot's height as needed to reach different levels. After wiping, place the cloth on the shelf and hand it over. Proceed to pick up the green bagged MSG and the yellow packaged chicken bouillon from the shelf. Move to the chassis, adjust the robot posture, and place both items into the cardboard box. Finally, hand over the yellow bag of chicken bouillon and adjust the robot posture once more to complete the restocking process."]}
{"task_id": "task_3477", "episode_index": 9, "video_path": "task_3477/videos/chunk-000/{video_key}/episode_000009.mp4", "tasks": ["Restocking the bagged snack."], "length": 1829, "action_config": [{"start_frame": 83, "end_frame": 198, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 198, "end_frame": 380, "action_text": "bend at the waist while lowering the body", "skill": "AdjustPosture", "language_memory": "The robot rotated its waist."}, {"start_frame": 380, "end_frame": 686, "action_text": "pick up the white bagged snack from the shopping cart", "skill": "Pick", "language_memory": "The robot rotated its waist and bent at the waist while lowering its body."}, {"start_frame": 686, "end_frame": 821, "action_text": "hand over the white bagged snack", "skill": "Handover", "language_memory": "The robot rotated its waist, bent down, and picked up a white bagged snack from the shopping cart."}, {"start_frame": 821, "end_frame": 1066, "action_text": "pick up the yellow bagged snack from the shopping cart", "skill": "Pick", "language_memory": "The robot rotated its waist, bent down, picked up a white bagged snack from the shopping cart, and handed it over."}, {"start_frame": 1066, "end_frame": 1227, "action_text": "pick up the object", "skill": "Pick", "language_memory": "The robot rotated its waist, bent down, picked up white and yellow bagged snacks from the shopping cart, and handed over the white bagged snack."}, {"start_frame": 1227, "end_frame": 1456, "action_text": "bend the body downward while rotating the waist", "skill": "AdjustPosture", "language_memory": "The robot rotated its waist, bent down, picked up white and yellow bagged snacks from the shopping cart, handed over the white bagged snack, and picked up an object."}, {"start_frame": 1456, "end_frame": 1597, "action_text": "place the white bagged snacks on the shelf", "skill": "Place", "language_memory": "The robot rotated its waist, lowered its body, picked up and handed over a white bagged snack, picked up a yellow bagged snack, and picked up an object."}, {"start_frame": 1597, "end_frame": 1799, "action_text": "place the yellow bagged snacks on the shelf", "skill": "Place", "language_memory": "The robot rotated its waist, lowered its body, picked up white and yellow bagged snacks from the shopping cart, handed over a white bagged snack, picked up an object, and placed the white bagged snacks on the shelf."}], "detailed_task_instruction": ["Rotate the waist and bend down to pick up a white bagged snack and a yellow bagged snack from the shopping cart. Hand over the white bagged snack, then pick up an object. Bend the body downward while rotating the waist to place the white bagged snacks on the shelf, followed by placing the yellow bagged snacks on the shelf."]}
{"task_id": "task_3477", "episode_index": 11, "video_path": "task_3477/videos/chunk-000/{video_key}/episode_000011.mp4", "tasks": ["Restocking the bagged snack."], "length": 1990, "action_config": [{"start_frame": 70, "end_frame": 226, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 226, "end_frame": 407, "action_text": "bend the waist downward while lowering the body", "skill": "AdjustPosture", "language_memory": "The robot rotated its waist."}, {"start_frame": 407, "end_frame": 758, "action_text": "pick up the yellow bagged snack from the shopping cart", "skill": "Pick", "language_memory": "The robot rotated its waist and bent downward to lower its body."}, {"start_frame": 758, "end_frame": 885, "action_text": "hand over the yellow bagged snack", "skill": "Handover", "language_memory": "The robot rotated its waist, bent downward, and picked up the yellow bagged snack from the shopping cart."}, {"start_frame": 885, "end_frame": 1273, "action_text": "pick up the white bagged snack from the shopping cart", "skill": "Pick", "language_memory": "The robot rotated its waist, bent downward, picked up a yellow bagged snack from the shopping cart, and handed it over."}, {"start_frame": 1273, "end_frame": 1446, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot rotated its waist, bent downward, picked up the yellow and white bagged snacks from the shopping cart, and handed over the yellow bagged snack."}, {"start_frame": 1446, "end_frame": 1811, "action_text": "place the yellow packaged snacks on the shelf", "skill": "Place", "language_memory": "The robot rotated its waist, bent downward, picked up and handed over a yellow bagged snack, picked up a white bagged snack, and adjusted its posture."}, {"start_frame": 1811, "end_frame": 1989, "action_text": "place the white bagged snacks on the shelf", "skill": "Place", "language_memory": "The robot rotated its waist, bent downward, picked up yellow and white bagged snacks from the shopping cart, handed over the yellow snack, adjusted its posture, and placed the yellow packaged snacks on the shelf."}], "detailed_task_instruction": ["Rotate the waist and bend downward to pick up a yellow bagged snack and a white bagged snack from the shopping cart. Adjust the robot posture, hand over the yellow bagged snack, and place both the yellow and white bagged snacks on the shelf to complete the restocking task."]}
{"task_id": "task_3477", "episode_index": 12, "video_path": "task_3477/videos/chunk-000/{video_key}/episode_000012.mp4", "tasks": ["Restocking the bagged snack."], "length": 4906, "action_config": [{"start_frame": 19, "end_frame": 542, "action_text": "wipe the shelf with the rag", "skill": "Wipe", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 542, "end_frame": 644, "action_text": "hand over the cloth", "skill": "Handover", "language_memory": "The shelf has been wiped with a rag."}, {"start_frame": 644, "end_frame": 1212, "action_text": "wipe the shelf with the rag", "skill": "Wipe", "language_memory": "The shelf was wiped with a rag and the cloth was handed over."}, {"start_frame": 1212, "end_frame": 1438, "action_text": "decrease height", "skill": "AdjustPosture", "language_memory": "The robot wiped the shelf with a rag and handed over the cloth."}, {"start_frame": 1438, "end_frame": 1933, "action_text": "wipe the shelf with the rag", "skill": "Wipe", "language_memory": "The robot wiped the shelf with a rag, handed over the cloth, and decreased its height."}, {"start_frame": 1933, "end_frame": 2059, "action_text": "hand over the cloth", "skill": "Handover", "language_memory": "The robot wiped the shelf with the rag and handed over the cloth."}, {"start_frame": 2059, "end_frame": 2741, "action_text": "wipe the shelves with a cloth", "skill": "Wipe", "language_memory": "The robot wiped the shelf with the rag and handed over the cloth multiple times."}, {"start_frame": 2741, "end_frame": 2882, "action_text": "increase height", "skill": "AdjustPosture", "language_memory": "The robot wiped the shelf with a rag multiple times and handed over the cloth."}, {"start_frame": 2882, "end_frame": 3199, "action_text": "place the cleaning cloth on the shelf", "skill": "Place", "language_memory": "The robot wiped the shelf with a rag multiple times, handed over the cloth twice, adjusted its height, and finally wiped the shelves with a cloth."}, {"start_frame": 3199, "end_frame": 3351, "action_text": "decrease height", "skill": "AdjustPosture", "language_memory": "The robot wiped the shelves with a cloth, adjusted its height, and placed the cleaning cloth on the shelf."}, {"start_frame": 3351, "end_frame": 3493, "action_text": "pick up the yellow packaged chicken bouillon from the shelf", "skill": "Pick", "language_memory": "The robot wiped the shelves with a cloth, adjusted its height, and placed the cleaning cloth on the shelf."}, {"start_frame": 3493, "end_frame": 3570, "action_text": "decrease height", "skill": "AdjustPosture", "language_memory": "The robot wiped the shelves with a cloth, adjusted its height, handed over the cloth, and picked up the yellow packaged chicken bouillon from the shelf."}, {"start_frame": 3570, "end_frame": 3758, "action_text": "pick up the green bagged monosodium glutamate from the shelf", "skill": "Pick", "language_memory": "The robot wiped the shelves with a cloth, adjusted its height, and picked up a yellow packaged chicken bouillon from the shelf."}, {"start_frame": 3758, "end_frame": 3953, "action_text": "mobile chassis", "skill": "Navigate", "language_memory": "The robot wiped the shelves with a cloth, handed over the cloth, adjusted its height, and picked up the yellow packaged chicken bouillon and the green bagged monosodium glutamate from the shelf."}, {"start_frame": 3953, "end_frame": 4131, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot wiped the shelves with a cloth, handed over the cloth, adjusted its height, and picked up the yellow packaged chicken bouillon and green bagged monosodium glutamate from the shelf."}, {"start_frame": 4131, "end_frame": 4347, "action_text": "place the yellow bagged chicken bouillon into the cardboard box", "skill": "Place", "language_memory": "The robot wiped the shelves with a cloth, handed over the cloth, placed the cleaning cloth on the shelf, and picked up the yellow packaged chicken bouillon and green bagged monosodium glutamate from the shelf."}, {"start_frame": 4347, "end_frame": 4550, "action_text": "place the green bagged msg into the cardboard box", "skill": "Place", "language_memory": "The robot wiped the shelves with a cloth, handed over the cloth, adjusted its height, and placed the yellow bagged chicken bouillon into the cardboard box."}, {"start_frame": 4550, "end_frame": 4637, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot wiped the shelves with a cloth, handed over the cloth, and placed the cleaning cloth on the shelf before picking up the yellow packaged chicken bouillon and green bagged monosodium glutamate from the shelf and placing both items into the cardboard box."}, {"start_frame": 4637, "end_frame": 4805, "action_text": "move to the chassis", "skill": "Navigate", "language_memory": "The robot wiped the shelves with a cloth, transferred the cleaning cloth to the shelf, and placed the yellow packaged chicken bouillon and green bagged monosodium glutamate into the cardboard box."}, {"start_frame": 4805, "end_frame": 4905, "action_text": "increase height", "skill": "AdjustPosture", "language_memory": "The robot cleaned the shelves, transferred the cleaning cloth, and successfully packed the yellow chicken bouillon and green monosodium glutamate bags into the cardboard box."}], "detailed_task_instruction": ["Clean the shelves by wiping them with a rag at different heights, handing over the cloth as needed, and finally placing the cloth on a shelf. Then, adjust your posture by bending over and moving to the chassis to access lower areas. Pick up the yellow packaged chicken bouillon and the green bagged monosodium glutamate from the shelf, decreasing height as required for each item. Finally, place both the yellow chicken bouillon and the green MSG into the cardboard box, adjusting your robot posture and increasing height to complete the restocking process."]}
{"task_id": "task_3477", "episode_index": 13, "video_path": "task_3477/videos/chunk-000/{video_key}/episode_000013.mp4", "tasks": ["Restocking the bagged snack."], "length": 1846, "action_config": [{"start_frame": 192, "end_frame": 393, "action_text": "bend the waist downward while lowering the body", "skill": "AdjustPosture", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 393, "end_frame": 678, "action_text": "pick up the yellow bagged snack from the shopping cart", "skill": "Pick", "language_memory": "The robot has bent its waist downward while lowering its body."}, {"start_frame": 678, "end_frame": 801, "action_text": "hand over the yellow bagged snack", "skill": "Handover", "language_memory": "The robot bent its waist downward and picked up the yellow bagged snack from the shopping cart."}, {"start_frame": 801, "end_frame": 1126, "action_text": "pick up the green bagged snack from the shopping cart", "skill": "Pick", "language_memory": "The robot lowered its body and handed over the yellow bagged snack."}, {"start_frame": 1126, "end_frame": 1307, "action_text": "pick up the object", "skill": "Pick", "language_memory": "The robot lowered its body, picked up the yellow and green bagged snacks from the shopping cart, and handed over the yellow bagged snack."}, {"start_frame": 1307, "end_frame": 1661, "action_text": "place the green packaged snacks on the shelf", "skill": "Place", "language_memory": "The robot lowered its body, picked up and handed over a yellow bagged snack, picked up a green bagged snack, and picked up an object."}, {"start_frame": 1661, "end_frame": 1821, "action_text": "place the yellow bagged snack onto the shelf", "skill": "Place", "language_memory": "The robot lowered its body, retrieved yellow and green bagged snacks from the shopping cart, handed over the yellow snack, and placed the green packaged snacks on the shelf."}], "detailed_task_instruction": ["Bend your waist downward to reach the shopping cart. Pick up the yellow bagged snack and hand it over. Then, pick up the green bagged snack from the cart. Finally, place the green packaged snacks onto the shelf, followed by placing the yellow bagged snack onto the shelf."]}
{"task_id": "task_3477", "episode_index": 14, "video_path": "task_3477/videos/chunk-000/{video_key}/episode_000014.mp4", "tasks": ["Restocking the bagged snack."], "length": 3665, "action_config": [{"start_frame": 45, "end_frame": 211, "action_text": "decrease height", "skill": "AdjustPosture", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 211, "end_frame": 272, "action_text": "move to the chassis", "skill": "Navigate", "language_memory": "The robot has decreased its height."}, {"start_frame": 272, "end_frame": 355, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot decreased its height and moved to the chassis."}, {"start_frame": 355, "end_frame": 866, "action_text": "wipe the shelf with the rag", "skill": "Wipe", "language_memory": "The robot has decreased its height, moved to the chassis, and bent over."}, {"start_frame": 866, "end_frame": 984, "action_text": "hand over the cloth", "skill": "Handover", "language_memory": "The robot decreased its height, moved to the chassis, bent over, and wiped the shelf with the rag."}, {"start_frame": 984, "end_frame": 1353, "action_text": "wipe the shelf with the rag", "skill": "Wipe", "language_memory": "The robot decreased its height, moved to the chassis, bent over, wiped the shelf with a rag, and handed over the cloth."}, {"start_frame": 1353, "end_frame": 1571, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot decreased its height, moved to the chassis, bent over, wiped the shelf with the rag, handed over the cloth, and wiped the shelf again."}, {"start_frame": 1571, "end_frame": 1880, "action_text": "pick up the yellow bag of chicken bouillon from the ground", "skill": "Pick", "language_memory": "The robot decreased its height, moved to the chassis, bent over, wiped the shelf with the rag, handed over the cloth, and wiped the shelf again."}, {"start_frame": 1880, "end_frame": 2024, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot decreased its height, moved to the chassis, bent over, wiped the shelf with a rag, handed over the cloth, and picked up the yellow bag of chicken bouillon from the ground."}, {"start_frame": 2024, "end_frame": 2094, "action_text": "mobile chassis", "skill": "Navigate", "language_memory": "The robot decreased its height, moved to the chassis, bent over, wiped the shelf with a rag, handed over the cloth, picked up a yellow bag of chicken bouillon from the ground, and adjusted its posture."}], "detailed_task_instruction": ["Bend over to decrease your height and adjust your posture, then move the mobile chassis to the target location. Wipe the shelf with the rag, hand the cloth over, and wipe the shelf again to ensure it is clean. Next, bend over once more to pick up the yellow bag of chicken bouillon from the ground. Finally, move the bag to the chassis to complete the restocking of the bagged snack."]}
{"task_id": "task_3477", "episode_index": 15, "video_path": "task_3477/videos/chunk-000/{video_key}/episode_000015.mp4", "tasks": ["Restocking the bagged snack."], "length": 2047, "action_config": [{"start_frame": 37, "end_frame": 180, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 180, "end_frame": 356, "action_text": "bend at the waist while lowering the body", "skill": "AdjustPosture", "language_memory": "The robot rotated its waist."}, {"start_frame": 356, "end_frame": 632, "action_text": "pick up the yellow bagged snack from the shopping cart", "skill": "Pick", "language_memory": "The robot rotated its waist and bent at the waist while lowering its body."}, {"start_frame": 632, "end_frame": 794, "action_text": "hand over the yellow bagged snack", "skill": "Handover", "language_memory": "The robot rotated its waist, bent down, and picked up the yellow bagged snack from the shopping cart."}, {"start_frame": 794, "end_frame": 1169, "action_text": "pick up the red bagged snack from the shopping cart", "skill": "Pick", "language_memory": "The robot rotated its waist, bent down, picked up a yellow bagged snack from the shopping cart, and handed it over."}, {"start_frame": 1169, "end_frame": 1343, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot rotated its waist, lowered its body, picked up the yellow and red bagged snacks from the shopping cart, and handed over the yellow bagged snack."}, {"start_frame": 1343, "end_frame": 1742, "action_text": "place the red packaged snacks on the shelf", "skill": "Place", "language_memory": "The robot rotated its waist, lowered its body, picked up and handed over a yellow bagged snack, picked up a red bagged snack, and adjusted its posture."}, {"start_frame": 1742, "end_frame": 1843, "action_text": "hand over the yellow bagged snack", "skill": "Handover", "language_memory": "The robot rotated its waist, lowered its body, picked up yellow and red bagged snacks from the shopping cart, handed over the yellow snack, adjusted its posture, and placed the red packaged snacks on the shelf."}, {"start_frame": 1843, "end_frame": 2028, "action_text": "place the yellow packaged snacks on the shelf", "skill": "Place", "language_memory": "The robot rotated its waist, bent down, picked up yellow and red bagged snacks from the shopping cart, adjusted its posture, handed over the yellow bagged snack, and placed the red packaged snacks on the shelf."}], "detailed_task_instruction": ["Rotate the waist and bend down to pick up the yellow bagged snack from the shopping cart, then hand it over. Adjust the robot posture, pick up the red bagged snack from the shopping cart, and hand it over. Finally, place the red packaged snacks on the shelf, followed by placing the yellow packaged snacks on the shelf."]}
{"task_id": "task_3477", "episode_index": 16, "video_path": "task_3477/videos/chunk-000/{video_key}/episode_000016.mp4", "tasks": ["Restocking the bagged snack."], "length": 1861, "action_config": [{"start_frame": 242, "end_frame": 488, "action_text": "as the height decreases, the waist bends downward", "skill": "AdjustPosture", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 488, "end_frame": 746, "action_text": "pick up the red bagged snack from the shopping cart", "skill": "Pick", "language_memory": "The robot bent its waist downward as the height decreased."}, {"start_frame": 746, "end_frame": 929, "action_text": "hand over the red bagged snack", "skill": "Handover", "language_memory": "The robot bent its waist downward as height decreased and picked up the red bagged snack from the shopping cart."}, {"start_frame": 929, "end_frame": 1203, "action_text": "pick up the green bagged snack from the shopping cart", "skill": "Pick", "language_memory": "The robot adjusted its waist height and successfully picked up and handed over the red bagged snack."}, {"start_frame": 1203, "end_frame": 1314, "action_text": "as the height increases, the waist tilts upward", "skill": "AdjustPosture", "language_memory": "The robot adjusted its waist height, picked up and handed over a red bagged snack, and picked up a green bagged snack from the shopping cart."}, {"start_frame": 1314, "end_frame": 1698, "action_text": "place the green bagged snacks on the shelf", "skill": "Place", "language_memory": "The robot adjusted its waist posture, picked up and handed over the red bagged snack, then picked up the green bagged snack from the shopping cart."}, {"start_frame": 1698, "end_frame": 1860, "action_text": "place the red packaged snacks on the shelf", "skill": "Place", "language_memory": "The robot bent its waist downward, picked up red and green bagged snacks from the shopping cart, handed over the red snack, and placed the green snacks on the shelf."}], "detailed_task_instruction": ["Begin by bending your waist downward as your height decreases. Next, pick up the red bagged snack from the shopping cart and hand it over. Then, pick up the green bagged snack from the shopping cart. As your height increases, tilt your waist upward. Finally, place the green bagged snacks on the shelf, followed by placing the red packaged snacks on the shelf."]}
{"task_id": "task_3477", "episode_index": 17, "video_path": "task_3477/videos/chunk-000/{video_key}/episode_000017.mp4", "tasks": ["Restocking the bagged snack."], "length": 2211, "action_config": [{"start_frame": 185, "end_frame": 376, "action_text": "bend at the waist while lowering the body", "skill": "AdjustPosture", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 376, "end_frame": 667, "action_text": "pick up the red packaged snack from the shopping cart", "skill": "Pick", "language_memory": "The robot bent at the waist and lowered its body."}, {"start_frame": 667, "end_frame": 961, "action_text": "hand over the red bagged snack", "skill": "Handover", "language_memory": "The robot bent at the waist and picked up the red packaged snack from the shopping cart."}, {"start_frame": 961, "end_frame": 1300, "action_text": "pick up the pink packaged snack from the shopping cart", "skill": "Pick", "language_memory": "The robot bent at the waist, picked up a red packaged snack from the shopping cart, and handed it over."}, {"start_frame": 1300, "end_frame": 1479, "action_text": "pick up the object", "skill": "Pick", "language_memory": "The robot bent at the waist, picked up the red and pink packaged snacks from the shopping cart, and handed over the red bagged snack."}, {"start_frame": 1479, "end_frame": 1935, "action_text": "place the pink packaged snacks on the shelf", "skill": "Place", "language_memory": "The robot bent at the waist, picked up and handed over a red packaged snack, picked up a pink packaged snack, and picked up an object."}, {"start_frame": 1935, "end_frame": 2123, "action_text": "place the red packaged snacks on the shelf", "skill": "Place", "language_memory": "The robot bent at the waist, picked up red and pink packaged snacks from the shopping cart, handed over the red snack, and placed the pink snacks on the shelf."}], "detailed_task_instruction": ["Bend at the waist to lower your body, then pick up the red packaged snack from the shopping cart and hand it over. Next, pick up the pink packaged snack from the shopping cart and place both the pink and red packaged snacks on the shelf."]}
{"task_id": "task_3477", "episode_index": 18, "video_path": "task_3477/videos/chunk-000/{video_key}/episode_000018.mp4", "tasks": ["Restocking the bagged snack."], "length": 1876, "action_config": [{"start_frame": 61, "end_frame": 175, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 175, "end_frame": 362, "action_text": "bend at the waist while lowering the body", "skill": "AdjustPosture", "language_memory": "The robot rotated its waist."}, {"start_frame": 362, "end_frame": 705, "action_text": "pick up the green bagged snack from the shopping cart", "skill": "Pick", "language_memory": "The robot rotated its waist and bent at the waist while lowering its body."}, {"start_frame": 705, "end_frame": 878, "action_text": "hand over the green bagged snack", "skill": "Handover", "language_memory": "The robot rotated its waist, bent down, and picked up the green bagged snack from the shopping cart."}, {"start_frame": 878, "end_frame": 1212, "action_text": "pick up the green bagged snack from the shopping cart", "skill": "Pick", "language_memory": "The robot rotated its waist, bent down, picked up a green bagged snack from the shopping cart, and handed it over."}, {"start_frame": 1212, "end_frame": 1374, "action_text": "as height increases, the waistline rises", "skill": "AdjustPosture", "language_memory": "The robot rotated its waist, bent down, and picked up multiple green bagged snacks from the shopping cart before handing one over."}, {"start_frame": 1374, "end_frame": 1711, "action_text": "place the green packaged snacks on the shelf", "skill": "Place", "language_memory": "The robot rotated its waist, lowered its body, picked up green bagged snacks from the shopping cart, and handed them over."}, {"start_frame": 1711, "end_frame": 1875, "action_text": "place the green packaged snacks on the shelf", "skill": "Place", "language_memory": "The robot rotated its waist, lowered its body, picked up green bagged snacks from the shopping cart, handed one over, and placed the green packaged snacks on the shelf."}], "detailed_task_instruction": ["Rotate the waist and bend down to pick up green bagged snacks from the shopping cart. Hand the first green bagged snack over, then pick up another green bagged snack from the cart. As you stand up and your waistline rises, place the green packaged snacks onto the shelf."]}
{"task_id": "task_3477", "episode_index": 19, "video_path": "task_3477/videos/chunk-000/{video_key}/episode_000019.mp4", "tasks": ["Restocking the bagged snack."], "length": 2065, "action_config": [{"start_frame": 209, "end_frame": 424, "action_text": "bend at the waist while lowering the body", "skill": "AdjustPosture", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 424, "end_frame": 674, "action_text": "pick up the red bagged snack from the shopping cart", "skill": "Pick", "language_memory": "The robot bent at the waist and lowered its body."}, {"start_frame": 674, "end_frame": 884, "action_text": "hand over the red bag of snacks", "skill": "Handover", "language_memory": "The robot bent at the waist and picked up the red bagged snack from the shopping cart."}, {"start_frame": 884, "end_frame": 1330, "action_text": "pick up the green bagged snack from the shopping cart", "skill": "Pick", "language_memory": "The robot bent at the waist, picked up the red bagged snack from the shopping cart, and handed it over."}, {"start_frame": 1330, "end_frame": 1573, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot bent at the waist, picked up the red and green bagged snacks from the shopping cart, and handed over the red bag."}, {"start_frame": 1573, "end_frame": 1932, "action_text": "place the green packaged snacks on the shelf", "skill": "Place", "language_memory": "The robot bent at the waist, picked up and handed over a red bagged snack, picked up a green bagged snack, and adjusted its posture."}, {"start_frame": 1932, "end_frame": 2064, "action_text": "place the red packaged snacks on the shelf", "skill": "Place", "language_memory": "The robot bent at the waist, picked up red and green bagged snacks from the shopping cart, handed over the red bag, and placed the green packaged snacks on the shelf."}], "detailed_task_instruction": ["Bend at the waist to lower your body, then pick up the red bagged snack from the shopping cart and hand it over. Adjust your posture, pick up the green bagged snack from the shopping cart, and place both the green and red packaged snacks on the shelf."]}
{"task_id": "task_3477", "episode_index": 20, "video_path": "task_3477/videos/chunk-000/{video_key}/episode_000020.mp4", "tasks": ["Restocking the bagged snack."], "length": 1980, "action_config": [{"start_frame": 44, "end_frame": 161, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 161, "end_frame": 352, "action_text": "bend the waist downward while lowering the body", "skill": "AdjustPosture", "language_memory": "The robot rotated its waist."}, {"start_frame": 352, "end_frame": 617, "action_text": "pick up the pink bagged snack from the shopping cart", "skill": "Pick", "language_memory": "The robot rotated its waist and bent downward to lower its body."}, {"start_frame": 617, "end_frame": 813, "action_text": "hand over the pink bag of snacks", "skill": "Handover", "language_memory": "The robot rotated its waist, bent downward, and picked up the pink bagged snack from the shopping cart."}, {"start_frame": 813, "end_frame": 1139, "action_text": "pick up the green bagged snack from the shopping cart", "skill": "Pick", "language_memory": "The robot rotated its waist, bent downward, picked up a pink bagged snack from the shopping cart, and handed it over."}, {"start_frame": 1139, "end_frame": 1329, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot rotated its waist, bent downward, picked up the pink and green bagged snacks from the shopping cart, and handed over the pink bag."}, {"start_frame": 1329, "end_frame": 1765, "action_text": "place the green packaged snacks on the shelf", "skill": "Place", "language_memory": "The robot rotated its waist, bent downward, picked up pink and green bagged snacks from the shopping cart, handed over the pink bag, and adjusted its posture."}, {"start_frame": 1765, "end_frame": 1926, "action_text": "place the pink packaged snacks on the shelf", "skill": "Place", "language_memory": "The robot rotated its waist, bent downward, picked up pink and green bagged snacks from the shopping cart, handed over the pink snack, adjusted its posture, and placed the green snack on the shelf."}], "detailed_task_instruction": ["Rotate the waist and bend downward to pick up the pink bagged snack from the shopping cart, then hand it over. Adjust the robot posture, pick up the green bagged snack from the shopping cart, and place both the green and pink packaged snacks on the shelf."]}
{"task_id": "task_3477", "episode_index": 21, "video_path": "task_3477/videos/chunk-000/{video_key}/episode_000021.mp4", "tasks": ["Restocking the bagged snack."], "length": 4366, "action_config": [{"start_frame": 55, "end_frame": 225, "action_text": "pick up the shopping cart", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 225, "end_frame": 1047, "action_text": "mobile chassis", "skill": "Navigate", "language_memory": "The robot has picked up the shopping cart."}, {"start_frame": 1047, "end_frame": 1236, "action_text": "release the shopping cart", "skill": "Release", "language_memory": "The robot has picked up the shopping cart and moved its chassis."}, {"start_frame": 1236, "end_frame": 2214, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot picked up the shopping cart, moved the chassis, and released the shopping cart."}, {"start_frame": 2214, "end_frame": 2367, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot picked up the shopping cart, moved its chassis, released the cart, and adjusted its posture."}, {"start_frame": 2367, "end_frame": 2738, "action_text": "pick up the red packaged pig's trotter pieces from the shopping cart", "skill": "Pick", "language_memory": "The robot picked up the shopping cart, moved its chassis, released the cart, and adjusted its posture."}, {"start_frame": 2738, "end_frame": 2948, "action_text": "hand over the red bag of pig trotter pieces", "skill": "Handover", "language_memory": "The robot picked up the shopping cart, moved it, released it, adjusted its posture, and picked up the red packaged pig's trotter pieces from the cart."}], "detailed_task_instruction": ["Restock the bagged snack by first picking up the shopping cart, moving the mobile chassis, and releasing the cart. Adjust the robot posture to access the items, then pick up the red packaged pig's trotter pieces from the shopping cart. Finally, hand over the red bag of pig trotter pieces to complete the restocking process."]}
{"task_id": "task_3477", "episode_index": 22, "video_path": "task_3477/videos/chunk-000/{video_key}/episode_000022.mp4", "tasks": ["Restocking the bagged snack."], "length": 5571, "action_config": [{"start_frame": 41, "end_frame": 361, "action_text": "clamp the shopping cart", "skill": "Clamp", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 361, "end_frame": 1683, "action_text": "move to the chassis", "skill": "Navigate", "language_memory": "The robot has clamped the shopping cart."}, {"start_frame": 1683, "end_frame": 1793, "action_text": "release the shopping cart", "skill": "Release", "language_memory": "The robot clamped the shopping cart and moved to the chassis."}, {"start_frame": 1793, "end_frame": 1945, "action_text": "move to the chassis", "skill": "Navigate", "language_memory": "The robot clamped the shopping cart, moved to the chassis, and released the shopping cart."}, {"start_frame": 1945, "end_frame": 2687, "action_text": "dual-arm coordinated adjustment of shopping cart posture", "skill": "AdjustObject", "language_memory": "The robot clamped the shopping cart, moved to the chassis, released the cart, and returned to the chassis."}, {"start_frame": 2687, "end_frame": 3102, "action_text": "move to the chassis", "skill": "Navigate", "language_memory": "The robot clamped the shopping cart, moved to the chassis, released the cart, returned to the chassis, and performed a dual-arm coordinated adjustment of the shopping cart's posture."}, {"start_frame": 3102, "end_frame": 3545, "action_text": "as the height decreases, the waist bends downward", "skill": "AdjustPosture", "language_memory": "The robot clamped the shopping cart, moved to the chassis, released the cart, and performed a dual-arm coordinated adjustment of the cart's posture before returning to the chassis."}, {"start_frame": 3545, "end_frame": 3823, "action_text": "pick up the blue bagged white sugar from the shopping cart", "skill": "Pick", "language_memory": "The robot clamped the shopping cart, adjusted its posture using dual-arm coordination, and bent its waist downward as the height decreased."}, {"start_frame": 3823, "end_frame": 3959, "action_text": "hand over the blue bag of white sugar", "skill": "Handover", "language_memory": "The robot clamped the shopping cart, adjusted its posture and waist height, and picked up the blue bagged white sugar from the cart."}, {"start_frame": 3959, "end_frame": 4276, "action_text": "pick up the green bagged msg from the shopping cart", "skill": "Pick", "language_memory": "The robot clamped the shopping cart, adjusted its posture and height, and successfully picked up and handed over the blue bag of white sugar."}, {"start_frame": 4276, "end_frame": 4452, "action_text": "pick up the object", "skill": "Pick", "language_memory": "The robot clamped the shopping cart, adjusted its posture, and picked up the blue bagged white sugar and green bagged MSG from the cart before handing over the white sugar."}, {"start_frame": 4452, "end_frame": 4673, "action_text": "place the blue bag of white sugar on the shelf", "skill": "Place", "language_memory": "The robot clamped the shopping cart, adjusted its posture and height, and successfully picked up and handed over the blue bagged white sugar and the green bagged MSG."}, {"start_frame": 4673, "end_frame": 4869, "action_text": "hand over the green bag of monosodium glutamate", "skill": "Handover", "language_memory": "The robot clamped and adjusted the shopping cart, then picked up the blue bag of white sugar and the green bag of MSG from the cart, handing over the white sugar before placing it on the shelf."}, {"start_frame": 4869, "end_frame": 5316, "action_text": "place the green bagged monosodium glutamate on the corresponding shelf", "skill": "Place", "language_memory": "The robot adjusted the shopping cart posture, picked up and handed over the blue bag of white sugar and the green bag of MSG, and placed the blue bag of white sugar on the shelf."}, {"start_frame": 5316, "end_frame": 5570, "action_text": "decrease height", "skill": "AdjustPosture", "language_memory": "The robot adjusted the shopping cart posture, picked up and handed over the blue bag of white sugar and the green bag of monosodium glutamate, and subsequently placed both items on their corresponding shelves."}], "detailed_task_instruction": ["After clamping the shopping cart and adjusting its posture via dual-arm coordination while bending the waist as height decreases, the robot moves to the chassis to retrieve the blue bagged white sugar and the green bagged monosodium glutamate from the cart. The blue bag of white sugar is handed over and placed on the shelf, followed by handing over the green bag of monosodium glutamate and placing it on the corresponding shelf. Finally, the robot decreases its height to complete the restocking of the bagged snacks."]}
{"task_id": "task_3477", "episode_index": 23, "video_path": "task_3477/videos/chunk-000/{video_key}/episode_000023.mp4", "tasks": ["Restocking the bagged snack."], "length": 3974, "action_config": [{"start_frame": 38, "end_frame": 229, "action_text": "pick up the shopping cart", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 229, "end_frame": 1094, "action_text": "move to the chassis", "skill": "Navigate", "language_memory": "The robot has picked up the shopping cart."}, {"start_frame": 1094, "end_frame": 1210, "action_text": "release the shopping cart", "skill": "Release", "language_memory": "The robot has picked up the shopping cart and moved to the chassis."}, {"start_frame": 1210, "end_frame": 2185, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot picked up the shopping cart, moved to the chassis, and released the shopping cart."}, {"start_frame": 2185, "end_frame": 2325, "action_text": "bend at the waist while lowering the body", "skill": "AdjustPosture", "language_memory": "The robot has picked up the shopping cart, moved to the chassis, released the cart, and adjusted its posture."}, {"start_frame": 2325, "end_frame": 2663, "action_text": "pick up the red packaged snack from the shopping cart", "skill": "Pick", "language_memory": "The robot has picked up the shopping cart, moved to the chassis, released the cart, adjusted its posture, and bent at the waist while lowering its body."}, {"start_frame": 2663, "end_frame": 2822, "action_text": "hand over the red bagged snack", "skill": "Handover", "language_memory": "The robot picked up the shopping cart, adjusted its posture by bending at the waist, and retrieved a red packaged snack from the cart."}, {"start_frame": 2822, "end_frame": 3102, "action_text": "pick up the pink packaged snack from the shopping cart", "skill": "Pick", "language_memory": "The robot picked up the shopping cart, adjusted its posture to bend down, retrieved a red packaged snack from the cart, and handed it over."}, {"start_frame": 3102, "end_frame": 3201, "action_text": "pick up the object", "skill": "Pick", "language_memory": "The robot picked up the shopping cart, adjusted its posture to bend down, and retrieved red and pink packaged snacks from the cart before handing over the red bagged snack."}, {"start_frame": 3201, "end_frame": 3535, "action_text": "height increases while the waistline rises", "skill": "AdjustPosture", "language_memory": "The robot picked up the shopping cart, adjusted its posture to bend down, retrieved red and pink packaged snacks from the cart, and handed over the red bagged snack."}, {"start_frame": 3535, "end_frame": 3736, "action_text": "place the pink packaged snack on the shelf", "skill": "Place", "language_memory": "The robot picked up the shopping cart, adjusted its posture, and retrieved red and pink packaged snacks from the cart before handing over the red bagged snack."}, {"start_frame": 3736, "end_frame": 3973, "action_text": "place the red packaged snacks on the shelf", "skill": "Place", "language_memory": "The robot picked up the shopping cart, adjusted its posture to bend down, retrieved red and pink packaged snacks from the cart, handed over the red snack, and placed the pink snack on the shelf."}], "detailed_task_instruction": ["Restock the bagged snacks by first picking up the shopping cart, moving to the chassis, releasing the cart, adjusting your posture, and bending at the waist. Retrieve the red packaged snack from the cart and hand it over, then pick up the pink packaged snack. Straighten your waist as you place the pink snack on the shelf, followed by placing the red packaged snacks on the shelf."]}
{"task_id": "task_3477", "episode_index": 24, "video_path": "task_3477/videos/chunk-000/{video_key}/episode_000024.mp4", "tasks": ["Restocking the bagged snack."], "length": 5206, "action_config": [{"start_frame": 44, "end_frame": 278, "action_text": "clamp the shopping cart", "skill": "Clamp", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 278, "end_frame": 1476, "action_text": "mobile chassis", "skill": "Navigate", "language_memory": "The robot has clamped the shopping cart."}, {"start_frame": 1476, "end_frame": 1762, "action_text": "release the shopping cart", "skill": "Release", "language_memory": "The robot clamped the shopping cart and moved the mobile chassis."}, {"start_frame": 1762, "end_frame": 2060, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot clamped the shopping cart, moved the mobile chassis, and released the shopping cart."}, {"start_frame": 2060, "end_frame": 2169, "action_text": "move to the chassis", "skill": "Navigate", "language_memory": "The robot clamped the shopping cart, moved the mobile chassis, released the cart, and adjusted its posture."}, {"start_frame": 2169, "end_frame": 2232, "action_text": "decrease height", "skill": "AdjustPosture", "language_memory": "The robot clamped the shopping cart, adjusted its posture, and moved to the chassis."}, {"start_frame": 2232, "end_frame": 2529, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot clamped the shopping cart, adjusted its posture, moved to the chassis, and decreased its height."}, {"start_frame": 2529, "end_frame": 2855, "action_text": "move to the chassis", "skill": "Navigate", "language_memory": "The robot clamped the shopping cart, adjusted its posture, moved to the chassis, and decreased its height."}, {"start_frame": 2855, "end_frame": 2992, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot clamped the shopping cart, adjusted its posture, and moved to the chassis to decrease its height."}, {"start_frame": 2992, "end_frame": 3096, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot adjusted its posture, moved to the chassis, decreased height, and rotated its waist while clamping and releasing the shopping cart."}, {"start_frame": 3096, "end_frame": 3333, "action_text": "pick up the green bagged msg from the shopping cart", "skill": "Pick", "language_memory": "The robot adjusted its posture, moved to the chassis, decreased height, rotated its waist, and bent over."}, {"start_frame": 3333, "end_frame": 3495, "action_text": "hand over the green bag of monosodium glutamate", "skill": "Handover", "language_memory": "The robot adjusted its posture and moved to the shopping cart, then picked up the green bagged MSG."}, {"start_frame": 3495, "end_frame": 3732, "action_text": "pick up the packaged chicken bouillon from the shopping cart", "skill": "Pick", "language_memory": "The robot adjusted its posture and moved to the shopping cart, then picked up the green bag of monosodium glutamate and handed it over."}, {"start_frame": 3732, "end_frame": 3849, "action_text": "pick up the object", "skill": "Pick", "language_memory": "The robot adjusted its posture and moved to the shopping cart, then picked up the green bag of monosodium glutamate and the packaged chicken bouillon before handing over the green bag."}, {"start_frame": 3849, "end_frame": 4123, "action_text": "decrease height", "skill": "AdjustPosture", "language_memory": "The robot adjusted its posture and moved to the shopping cart, then picked up the green bag of monosodium glutamate and the packaged chicken bouillon before handing over the green bag and picking up an object."}, {"start_frame": 4123, "end_frame": 4417, "action_text": "place the yellow packaged chicken bouillon on the shelf", "skill": "Place", "language_memory": "The robot adjusted its posture and height, moved to the shopping cart, picked up the green bag of monosodium glutamate and the packaged chicken bouillon, and handed over the green bag."}, {"start_frame": 4417, "end_frame": 4828, "action_text": "assists in adjusting the position of the green bagged monosodium glutamate", "skill": "Assist", "language_memory": "The robot adjusted its posture and height, moved to the shopping cart, picked up the green bag of monosodium glutamate and the yellow packaged chicken bouillon, and placed the chicken bouillon on the shelf."}, {"start_frame": 4828, "end_frame": 5020, "action_text": "place the green packaged msg on the shelf", "skill": "Place", "language_memory": "The robot adjusted its posture and height, moved to the shopping cart, picked up the green bagged monosodium glutamate and the packaged chicken bouillon, and placed the chicken bouillon on the shelf while assisting in adjusting the position of the green bag."}, {"start_frame": 5020, "end_frame": 5171, "action_text": "place the green bagged msg on the target", "skill": "Place", "language_memory": "The robot adjusted its posture and height, moved to the shopping cart, picked up the green bagged MSG and yellow packaged chicken bouillon, and placed both items on the shelf."}], "detailed_task_instruction": ["After clamping and releasing the shopping cart, the robot adjusts its posture and moves to the chassis to decrease its height. It then rotates its waist and bends over to pick up the green bagged monosodium glutamate from the cart, handing it over before assisting in adjusting its position. Next, the robot picks up the packaged chicken bouillon, decreases its height again, and places the yellow packaged chicken bouillon on the shelf. Finally, it places the green bagged monosodium glutamate on the target shelf to complete the restocking process."]}
{"task_id": "task_3477", "episode_index": 25, "video_path": "task_3477/videos/chunk-000/{video_key}/episode_000025.mp4", "tasks": ["Restocking the bagged snack."], "length": 5737, "action_config": [{"start_frame": 52, "end_frame": 245, "action_text": "pick up the shopping cart", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 245, "end_frame": 1285, "action_text": "mobile chassis", "skill": "Navigate", "language_memory": "The robot has picked up the shopping cart."}, {"start_frame": 1285, "end_frame": 1496, "action_text": "release the shopping cart", "skill": "Release", "language_memory": "The robot has picked up the shopping cart and moved its chassis."}, {"start_frame": 1496, "end_frame": 1619, "action_text": "move to the chassis", "skill": "Navigate", "language_memory": "The robot picked up the shopping cart, moved the chassis, and released the shopping cart."}, {"start_frame": 1619, "end_frame": 1709, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the shopping cart, moved the chassis, released the cart, and moved to the chassis."}, {"start_frame": 1709, "end_frame": 2208, "action_text": "dual-arm coordinated adjustment of shopping cart posture", "skill": "AdjustObject", "language_memory": "The robot picked up the shopping cart, moved the chassis, released the cart, repositioned the chassis, and rotated the waist."}, {"start_frame": 2208, "end_frame": 2596, "action_text": "move to the chassis", "skill": "Navigate", "language_memory": "The robot picked up the shopping cart, moved to the chassis, rotated its waist, and performed dual-arm coordinated adjustments to the cart's posture."}, {"start_frame": 2596, "end_frame": 2743, "action_text": "rotate the waist while lowering the body", "skill": "Rotate", "language_memory": "The robot successfully picked up the shopping cart, adjusted its posture using dual-arm coordination, and moved to the chassis."}, {"start_frame": 2743, "end_frame": 3262, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot has successfully picked up the shopping cart, adjusted its posture using dual-arm coordination, and maneuvered the chassis to the target location while rotating the waist and lowering the body."}, {"start_frame": 3262, "end_frame": 3507, "action_text": "move to the chassis", "skill": "Navigate", "language_memory": "The robot has successfully picked up the shopping cart, adjusted its posture using dual-arm coordination, and maneuvered to the chassis while rotating its waist and lowering its body."}, {"start_frame": 3507, "end_frame": 3695, "action_text": "as the height decreases, the waist bends downward", "skill": "AdjustPosture", "language_memory": "The robot has successfully picked up the shopping cart, adjusted its posture using dual-arm coordination, and maneuvered to the chassis while rotating its waist and lowering its body."}, {"start_frame": 3695, "end_frame": 3972, "action_text": "pick up the yellow bagged chicken bouillon from the shopping cart", "skill": "Pick", "language_memory": "The robot has successfully picked up the shopping cart, adjusted its posture through coordinated dual-arm movements and waist rotations, and positioned itself at the chassis while lowering its body."}, {"start_frame": 3972, "end_frame": 4105, "action_text": "hand over the yellow bag of chicken bouillon", "skill": "Handover", "language_memory": "The robot picked up the shopping cart, adjusted its posture and position, and successfully retrieved the yellow bagged chicken bouillon from the cart."}, {"start_frame": 4105, "end_frame": 4499, "action_text": "pick up the green bagged msg from the shopping cart", "skill": "Pick", "language_memory": "The robot successfully picked up the shopping cart, adjusted its posture and position, and handed over the yellow bag of chicken bouillon."}, {"start_frame": 4499, "end_frame": 4543, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot picked up the shopping cart, adjusted its posture, and retrieved the yellow bagged chicken bouillon and green bagged MSG from the cart."}, {"start_frame": 4543, "end_frame": 4807, "action_text": "place the green packaged msg on the shelf", "skill": "Place", "language_memory": "The robot successfully retrieved the shopping cart, adjusted its posture to access the cart, and picked up the yellow bagged chicken bouillon and green bagged MSG before handing over the chicken bouillon."}, {"start_frame": 4807, "end_frame": 5062, "action_text": "place the green bagged monosodium glutamate on the target", "skill": "Place", "language_memory": "The robot successfully retrieved the shopping cart, navigated to the chassis, and adjusted its posture to access the cart. It then picked up the yellow bagged chicken bouillon and handed it over, followed by picking up the green bagged MSG and placing it on the shelf."}, {"start_frame": 5062, "end_frame": 5237, "action_text": "decrease height", "skill": "AdjustPosture", "language_memory": "The robot successfully retrieved the shopping cart, navigated to the target chassis, and completed the restocking of the yellow bagged chicken bouillon and green bagged monosodium glutamate onto the shelf."}, {"start_frame": 5237, "end_frame": 5422, "action_text": "place the yellow packaged chicken bouillon on the shelf", "skill": "Place", "language_memory": "The robot successfully retrieved the shopping cart, navigated to the chassis, and adjusted its posture to access items. It picked up a yellow bag of chicken bouillon and a green bag of monosodium glutamate from the cart, handed over the chicken bouillon, and placed the monosodium glutamate on the target shelf."}, {"start_frame": 5422, "end_frame": 5527, "action_text": "increase height", "skill": "AdjustPosture", "language_memory": "The robot successfully retrieved a yellow bag of chicken bouillon and a green bag of monosodium glutamate from the shopping cart and placed both items on the shelf."}, {"start_frame": 5527, "end_frame": 5693, "action_text": "place the green packaged monosodium glutamate on the target", "skill": "Place", "language_memory": "The robot adjusted its posture, moved to the shopping cart, picked up the yellow bagged chicken bouillon and green bagged MSG, and placed both items on the shelf."}], "detailed_task_instruction": ["Restock the bagged snacks by first picking up the shopping cart, maneuvering the mobile chassis, and adjusting the robot's posture through waist rotations and coordinated dual-arm movements to reach the target height. Lower the body and bend the waist to access the cart, then pick up the yellow bagged chicken bouillon and hand it over. Next, retrieve the green bagged monosodium glutamate from the cart. Adjust the robot's posture again, decrease height to place the green MSG on the shelf, and increase height to place the yellow chicken bouillon on the shelf. Finally, ensure both the green monosodium glutamate and yellow chicken bouillon are correctly positioned on their respective targets to complete the restocking process."]}
{"task_id": "task_3477", "episode_index": 26, "video_path": "task_3477/videos/chunk-000/{video_key}/episode_000026.mp4", "tasks": ["Restocking the bagged snack."], "length": 3294, "action_config": [{"start_frame": 45, "end_frame": 234, "action_text": "pick up the shopping cart", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 234, "end_frame": 1280, "action_text": "move to the chassis", "skill": "Navigate", "language_memory": "The robot has picked up the shopping cart."}, {"start_frame": 1280, "end_frame": 1668, "action_text": "release the shopping cart", "skill": "Release", "language_memory": "The robot has picked up the shopping cart and moved to the chassis."}, {"start_frame": 1668, "end_frame": 2983, "action_text": "dual-arm coordinated adjustment of shopping cart posture", "skill": "AdjustObject", "language_memory": "The robot picked up the shopping cart, moved to the chassis, and released the shopping cart."}], "detailed_task_instruction": ["Restock the bagged snack by first picking up the shopping cart and moving to the chassis. Release the shopping cart and perform a dual-arm coordinated adjustment to set the correct posture before proceeding with the restocking operation."]}
{"task_id": "task_3477", "episode_index": 27, "video_path": "task_3477/videos/chunk-000/{video_key}/episode_000027.mp4", "tasks": ["Restocking the bagged snack."], "length": 4628, "action_config": [{"start_frame": 36, "end_frame": 270, "action_text": "clamp the shopping cart", "skill": "Clamp", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 270, "end_frame": 1242, "action_text": "move to the chassis", "skill": "Navigate", "language_memory": "The robot has clamped the shopping cart."}, {"start_frame": 1242, "end_frame": 1393, "action_text": "release the shopping cart", "skill": "Release", "language_memory": "The robot clamped the shopping cart and moved to the chassis."}, {"start_frame": 1393, "end_frame": 2416, "action_text": "dual-arm coordinated adjustment of shopping cart posture", "skill": "AdjustObject", "language_memory": "The robot clamped the shopping cart, moved to the chassis, and released the shopping cart."}, {"start_frame": 2416, "end_frame": 2583, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot clamped the shopping cart, moved to the chassis, released the cart, and performed a dual-arm coordinated adjustment to correct its posture."}, {"start_frame": 2583, "end_frame": 3018, "action_text": "pick up the green bagged snack from the shopping cart", "skill": "Pick", "language_memory": "The robot clamped the shopping cart, moved to the chassis, released the cart, performed a dual-arm coordinated adjustment of the cart's posture, and bent over."}, {"start_frame": 3018, "end_frame": 3239, "action_text": "hand over the green bagged snack", "skill": "Handover", "language_memory": "The robot clamped the shopping cart, adjusted its posture, bent over, and picked up the green bagged snack from the cart."}, {"start_frame": 3239, "end_frame": 3546, "action_text": "pick up the pink packaged snack from the shopping cart", "skill": "Pick", "language_memory": "The robot clamped the shopping cart, adjusted its posture, bent over, picked up a green bagged snack, and handed it over."}, {"start_frame": 3546, "end_frame": 3646, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot clamped and adjusted the shopping cart, then picked up and handed over a green bagged snack and a pink packaged snack."}, {"start_frame": 3646, "end_frame": 4092, "action_text": "as height increases, the waist bends downward", "skill": "AdjustPosture", "language_memory": "The robot clamped and adjusted the shopping cart, then picked up and handed over a green bagged snack and a pink packaged snack before adjusting its posture."}, {"start_frame": 4092, "end_frame": 4225, "action_text": "place the pink packaged snacks onto the shelf", "skill": "Place", "language_memory": "The robot clamped and adjusted the shopping cart, then picked up and handed over a green bagged snack and a pink packaged snack while adjusting its posture."}, {"start_frame": 4225, "end_frame": 4408, "action_text": "hand over the green bagged snack", "skill": "Handover", "language_memory": "The robot clamped and adjusted the shopping cart, picked up green and pink bagged snacks, and placed the pink snack onto the shelf."}, {"start_frame": 4408, "end_frame": 4627, "action_text": "place the green packaged snacks onto the shelf", "skill": "Place", "language_memory": "The robot clamped and adjusted the shopping cart, picked up green bagged and pink packaged snacks, and placed the pink snacks onto the shelf while handing over the green bagged snack."}], "detailed_task_instruction": ["Secure the shopping cart and adjust its posture using dual-arm coordination before moving to the chassis. Bend over to pick up the green bagged snack from the cart and hand it over, then adjust the robot's posture as height increases by bending the waist downward. Next, pick up the pink packaged snack from the cart, hand it over, and place it onto the shelf. Finally, hand over the green bagged snack again and place it onto the shelf to complete the restocking process."]}
{"task_id": "task_3477", "episode_index": 28, "video_path": "task_3477/videos/chunk-000/{video_key}/episode_000028.mp4", "tasks": ["Restocking the bagged snack."], "length": 3299, "action_config": [{"start_frame": 54, "end_frame": 264, "action_text": "clamp the shopping cart", "skill": "Clamp", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 264, "end_frame": 1341, "action_text": "move to the chassis", "skill": "Navigate", "language_memory": "The robot has clamped the shopping cart."}, {"start_frame": 1341, "end_frame": 1469, "action_text": "release the shopping cart", "skill": "Release", "language_memory": "The robot clamped the shopping cart and moved to the chassis."}, {"start_frame": 1469, "end_frame": 1649, "action_text": "move to the chassis", "skill": "Navigate", "language_memory": "The robot clamped the shopping cart, moved to the chassis, and released the shopping cart."}, {"start_frame": 1649, "end_frame": 1749, "action_text": "place the reset position", "skill": "Place", "language_memory": "The robot clamped the shopping cart, moved to the chassis, released the cart, and returned to the chassis."}, {"start_frame": 1749, "end_frame": 1823, "action_text": "move to the chassis", "skill": "Navigate", "language_memory": "The robot clamped the shopping cart, moved to the chassis, released the cart, returned to the chassis, and placed itself at the reset position."}, {"start_frame": 1823, "end_frame": 2020, "action_text": "pick up the blue bag of white sugar from the shelf", "skill": "Pick", "language_memory": "The robot clamped the shopping cart, moved to the chassis, released the cart, and returned to the chassis to place itself at the reset position."}, {"start_frame": 2020, "end_frame": 2111, "action_text": "decrease height", "skill": "AdjustPosture", "language_memory": "The robot clamped the shopping cart, moved to the chassis, released the cart, and picked up the blue bag of white sugar from the shelf."}, {"start_frame": 2111, "end_frame": 2301, "action_text": "pick up the yellow packaged chicken bouillon from the shelf", "skill": "Pick", "language_memory": "The robot clamped the shopping cart, moved to the chassis, released the cart, and returned to the reset position before picking up the blue bag of white sugar from the shelf and decreasing its height."}, {"start_frame": 2301, "end_frame": 2477, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot clamped the shopping cart, moved to the chassis, released the cart, and returned to the reset position before picking up a blue bag of white sugar and a yellow packaged chicken bouillon from the shelf."}, {"start_frame": 2477, "end_frame": 2545, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot clamped and released the shopping cart, moved to the chassis multiple times, placed the reset position, picked up the blue bag of white sugar and the yellow packaged chicken bouillon from the shelf, decreased height, and rotated the waist."}, {"start_frame": 2545, "end_frame": 2864, "action_text": "place the blue bag of white sugar into the shopping cart", "skill": "Place", "language_memory": "The robot clamped and released the shopping cart, moved to the chassis multiple times, placed the reset position, picked up the blue bag of white sugar and the yellow packaged chicken bouillon from the shelf, decreased height, rotated the waist, and bent over."}, {"start_frame": 2864, "end_frame": 3144, "action_text": "place the yellow bag of chicken bouillon into the shopping cart", "skill": "Place", "language_memory": "The robot clamped the shopping cart, moved to the chassis, and released the cart. It then picked up a blue bag of white sugar and a yellow packaged chicken bouillon from the shelf, decreased its height, rotated its waist, bent over, and placed the blue bag of white sugar into the shopping cart."}, {"start_frame": 3144, "end_frame": 3210, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot clamped the shopping cart, moved to the chassis, and released it. It then picked up a blue bag of white sugar and a yellow packaged chicken bouillon from the shelf, decreased its height, rotated its waist, bent over, and placed both items into the shopping cart."}], "detailed_task_instruction": ["Restock the shopping cart by first clamping it, moving to the chassis, and releasing it. Proceed to the shelf to pick up the blue bag of white sugar, decrease your height, and then pick up the yellow packaged chicken bouillon. Rotate your waist, bend over, and place both the blue bag of white sugar and the yellow bag of chicken bouillon into the shopping cart. Finally, adjust your robot posture and return to the reset position after moving to the chassis once more."]}
{"task_id": "task_3477", "episode_index": 29, "video_path": "task_3477/videos/chunk-000/{video_key}/episode_000029.mp4", "tasks": ["Restocking the bagged snack."], "length": 3948, "action_config": [{"start_frame": 26, "end_frame": 310, "action_text": "clamp the shopping cart", "skill": "Clamp", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 310, "end_frame": 1056, "action_text": "move to the chassis", "skill": "Navigate", "language_memory": "The robot has clamped the shopping cart."}, {"start_frame": 1056, "end_frame": 1257, "action_text": "release the shopping cart", "skill": "Release", "language_memory": "The robot clamped the shopping cart and moved to the chassis."}, {"start_frame": 1257, "end_frame": 2041, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot clamped the shopping cart, moved to the chassis, and released the shopping cart."}, {"start_frame": 2041, "end_frame": 2201, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot clamped the shopping cart, moved to the chassis, released the cart, and adjusted its posture."}, {"start_frame": 2201, "end_frame": 2578, "action_text": "pick up the green bagged snack from the shopping cart", "skill": "Pick", "language_memory": "The robot clamped the shopping cart, moved to the chassis, released the cart, and adjusted its posture."}, {"start_frame": 2578, "end_frame": 2736, "action_text": "hand over the green bagged snack", "skill": "Handover", "language_memory": "The robot clamped the shopping cart, moved to the chassis, released the cart, adjusted its posture, and picked up the green bagged snack from the cart."}, {"start_frame": 2736, "end_frame": 3196, "action_text": "pick up the white bagged snack from the shopping cart", "skill": "Pick", "language_memory": "The robot clamped the shopping cart, adjusted its posture, picked up a green bagged snack from the cart, and handed it over."}, {"start_frame": 3196, "end_frame": 3292, "action_text": "the waist tilts upward while the upper body rises", "skill": "AdjustPosture", "language_memory": "The robot clamped and released the shopping cart, adjusted its posture, picked up the green and white bagged snacks from the cart, and handed over the green bagged snack."}, {"start_frame": 3292, "end_frame": 3627, "action_text": "as height increases, the waist bends downward", "skill": "AdjustPosture", "language_memory": "The robot clamped the shopping cart, adjusted its posture, picked up and handed over the green bagged snack, and picked up the white bagged snack."}, {"start_frame": 3627, "end_frame": 3757, "action_text": "place the green packaged snacks on the shelf", "skill": "Place", "language_memory": "The robot clamped and released the shopping cart, adjusted its posture, picked up green and white bagged snacks, and handed over the green bagged snack."}, {"start_frame": 3757, "end_frame": 3947, "action_text": "place the white packaged snacks onto the shelf", "skill": "Place", "language_memory": "The robot clamped and released the shopping cart, adjusted its posture, picked up green and white bagged snacks from the cart, handed over the green snack, and placed the green packaged snacks on the shelf."}], "detailed_task_instruction": ["After clamping the shopping cart and moving to the chassis, the robot releases the cart and adjusts its posture. It then picks up the green bagged snack from the cart and hands it over. Next, the robot picks up the white bagged snack from the cart. As the robot's height increases, its waist bends downward while the upper body rises. Finally, the robot places the green packaged snacks on the shelf and subsequently places the white packaged snacks onto the shelf to complete the restocking process."]}
{"task_id": "task_3477", "episode_index": 30, "video_path": "task_3477/videos/chunk-000/{video_key}/episode_000030.mp4", "tasks": ["Restocking the bagged snack."], "length": 3754, "action_config": [{"start_frame": 20, "end_frame": 291, "action_text": "clamp the shopping cart", "skill": "Clamp", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 291, "end_frame": 968, "action_text": "move to the chassis", "skill": "Navigate", "language_memory": "The robot has clamped the shopping cart."}, {"start_frame": 968, "end_frame": 1137, "action_text": "release the shopping cart", "skill": "Release", "language_memory": "The robot clamped the shopping cart and moved to the chassis."}, {"start_frame": 1137, "end_frame": 1969, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot clamped the shopping cart, moved to the chassis, and released the shopping cart."}, {"start_frame": 1969, "end_frame": 2492, "action_text": "pick up the green bagged snack from the shopping cart", "skill": "Pick", "language_memory": "The robot clamped the shopping cart, moved to the chassis, released the cart, and adjusted its posture."}, {"start_frame": 2492, "end_frame": 2696, "action_text": "hand over the green bagged snack", "skill": "Handover", "language_memory": "The robot clamped the shopping cart, adjusted its posture, and successfully picked up the green bagged snack from the cart."}, {"start_frame": 2696, "end_frame": 3053, "action_text": "pick up the green bagged snack from the shopping cart", "skill": "Pick", "language_memory": "The robot clamped the shopping cart, adjusted its posture, picked up a green bagged snack from the cart, and handed it over."}, {"start_frame": 3053, "end_frame": 3149, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot clamped and adjusted the shopping cart, then picked up and handed over the green bagged snack twice."}, {"start_frame": 3149, "end_frame": 3419, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot adjusted its posture, clamped and released the shopping cart, and successfully picked up and handed over the green bagged snack."}, {"start_frame": 3419, "end_frame": 3541, "action_text": "place the green packaged snacks on the shelf", "skill": "Place", "language_memory": "The robot adjusted its posture, clamped and released the shopping cart, and successfully picked up and handed over the green bagged snack twice."}, {"start_frame": 3541, "end_frame": 3753, "action_text": "place the green packaged snacks onto the shelf", "skill": "Place", "language_memory": "The robot adjusted its posture, picked up green bagged snacks from the shopping cart, and placed them on the shelf."}], "detailed_task_instruction": ["Secure the shopping cart and move to the chassis before releasing the cart and adjusting the robot posture. Bend over to pick up the green bagged snack from the shopping cart, then hand it over. Adjust the robot posture again, bend over, and pick up another green bagged snack from the cart. Finally, place both green packaged snacks onto the shelf."]}
{"task_id": "task_3477", "episode_index": 31, "video_path": "task_3477/videos/chunk-000/{video_key}/episode_000031.mp4", "tasks": ["Restocking the bagged snack."], "length": 4287, "action_config": [{"start_frame": 42, "end_frame": 255, "action_text": "pick up the shopping cart", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 255, "end_frame": 1304, "action_text": "move to the chassis", "skill": "Navigate", "language_memory": "The robot has picked up the shopping cart."}, {"start_frame": 1304, "end_frame": 1575, "action_text": "release the shopping cart", "skill": "Release", "language_memory": "The robot has picked up the shopping cart and moved to the chassis."}, {"start_frame": 1575, "end_frame": 2466, "action_text": "dual-arm coordinated adjustment of shopping cart posture", "skill": "AdjustObject", "language_memory": "The robot picked up the shopping cart, moved to the chassis, and released the shopping cart."}, {"start_frame": 2466, "end_frame": 2721, "action_text": "move to the chassis", "skill": "Navigate", "language_memory": "The robot successfully picked up the shopping cart, moved to the chassis, released the cart, and performed a dual-arm coordinated adjustment to correct its posture."}, {"start_frame": 2721, "end_frame": 2808, "action_text": "increase height", "skill": "AdjustPosture", "language_memory": "The robot successfully picked up the shopping cart, moved to the chassis, released the cart, performed a dual-arm coordinated adjustment of the cart's posture, and returned to the chassis."}, {"start_frame": 2808, "end_frame": 2944, "action_text": "pick up the blue bag of granulated sugar from the third shelf", "skill": "Pick", "language_memory": "The robot picked up the shopping cart, adjusted its posture using dual-arm coordination, and increased its height while moving to the chassis."}, {"start_frame": 2944, "end_frame": 3105, "action_text": "decrease height", "skill": "AdjustPosture", "language_memory": "The robot picked up the shopping cart, adjusted its posture, increased its height, and retrieved the blue bag of granulated sugar from the third shelf."}, {"start_frame": 3105, "end_frame": 3522, "action_text": "pick up the yellow bagged chicken bouillon from the second shelf", "skill": "Pick", "language_memory": "The robot picked up the shopping cart, adjusted its posture, and retrieved a blue bag of granulated sugar from the third shelf."}, {"start_frame": 3522, "end_frame": 3673, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot picked up the shopping cart, adjusted its posture, and retrieved a blue bag of granulated sugar and a yellow bag of chicken bouillon from the shelves."}, {"start_frame": 3673, "end_frame": 3906, "action_text": "place the yellow packaged chicken bouillon into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the shopping cart, adjusted its posture, and retrieved a blue bag of granulated sugar and a yellow bag of chicken bouillon from the shelves."}], "detailed_task_instruction": ["Retrieve the shopping cart and position it at the chassis, adjusting its posture and height as needed. From the third shelf, pick up the blue bag of granulated sugar. Next, move to the second shelf to pick up the yellow bag of chicken bouillon. Finally, bend over and place the yellow chicken bouillon bag into the shopping cart."]}
{"task_id": "task_3477", "episode_index": 32, "video_path": "task_3477/videos/chunk-000/{video_key}/episode_000032.mp4", "tasks": ["Restocking the bagged snack."], "length": 3294, "action_config": [{"start_frame": 46, "end_frame": 280, "action_text": "pick up the shopping cart", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 280, "end_frame": 751, "action_text": "move to the chassis", "skill": "Navigate", "language_memory": "The robot has picked up the shopping cart."}, {"start_frame": 751, "end_frame": 826, "action_text": "release the shopping cart", "skill": "Release", "language_memory": "The robot has picked up the shopping cart and moved to the chassis."}, {"start_frame": 826, "end_frame": 980, "action_text": "move to the chassis", "skill": "Navigate", "language_memory": "The robot picked up the shopping cart, moved to the chassis, and released the shopping cart."}, {"start_frame": 980, "end_frame": 1575, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot picked up the shopping cart, moved to the chassis, released the cart, and returned to the chassis."}, {"start_frame": 1575, "end_frame": 1854, "action_text": "move to the chassis", "skill": "Navigate", "language_memory": "The robot picked up the shopping cart, moved to the chassis, released the cart, returned to the chassis, and adjusted its posture."}, {"start_frame": 1854, "end_frame": 1923, "action_text": "increase height", "skill": "AdjustPosture", "language_memory": "The robot picked up the shopping cart, moved to the chassis, released the cart, and adjusted its posture."}, {"start_frame": 1923, "end_frame": 2486, "action_text": "place the blue bagged white sugar on the target", "skill": "Place", "language_memory": "The robot picked up the shopping cart, moved to the chassis, released the cart, adjusted its posture, and increased its height."}, {"start_frame": 2486, "end_frame": 2639, "action_text": "decrease height", "skill": "AdjustPosture", "language_memory": "The robot picked up the shopping cart, adjusted its posture and height, and placed the blue bagged white sugar on the target."}, {"start_frame": 2639, "end_frame": 3280, "action_text": "place the yellow bagged chicken bouillon on the target", "skill": "Place", "language_memory": "The robot picked up the shopping cart, adjusted its posture and height, and successfully placed the blue bagged white sugar on the target."}], "detailed_task_instruction": ["Retrieve the shopping cart, navigate to the chassis, and release the cart. Adjust the robot's posture and move to the chassis again to increase height. Place the blue bagged white sugar on the target, then decrease height. Finally, move to the chassis once more to place the yellow bagged chicken bouillon on the target."]}
{"task_id": "task_3477", "episode_index": 33, "video_path": "task_3477/videos/chunk-000/{video_key}/episode_000033.mp4", "tasks": ["Restocking the bagged snack."], "length": 1785, "action_config": [{"start_frame": 36, "end_frame": 202, "action_text": "pick up the shopping cart", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 202, "end_frame": 698, "action_text": "move to the chassis", "skill": "Navigate", "language_memory": "The robot has picked up the shopping cart."}, {"start_frame": 698, "end_frame": 794, "action_text": "release the shopping cart", "skill": "Release", "language_memory": "The robot has picked up the shopping cart and moved to the chassis."}, {"start_frame": 794, "end_frame": 889, "action_text": "move to the chassis", "skill": "Navigate", "language_memory": "The robot picked up the shopping cart, moved to the chassis, and released the shopping cart."}, {"start_frame": 889, "end_frame": 1474, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot picked up the shopping cart, moved to the chassis, released the cart, and returned to the chassis."}, {"start_frame": 1474, "end_frame": 1718, "action_text": "move to the chassis", "skill": "Navigate", "language_memory": "The robot picked up the shopping cart, moved to the chassis, released the cart, returned to the chassis, and adjusted its posture."}], "detailed_task_instruction": ["Restock the bagged snacks by first picking up the shopping cart, then moving to the chassis to release it. Proceed to the chassis again to adjust the robot posture, followed by a final move to the chassis to complete the setup for restocking."]}
{"task_id": "task_3477", "episode_index": 35, "video_path": "task_3477/videos/chunk-000/{video_key}/episode_000035.mp4", "tasks": ["Restocking the bagged snack."], "length": 2318, "action_config": [{"start_frame": 25, "end_frame": 309, "action_text": "place the gold bagged pomelo on the target", "skill": "Place", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 309, "end_frame": 453, "action_text": "as height increases, the waist bends downward", "skill": "AdjustPosture", "language_memory": "The robot has placed the gold bagged pomelo on the target."}, {"start_frame": 453, "end_frame": 787, "action_text": "place the golden bagged pomelo on the target", "skill": "Place", "language_memory": "The robot has placed the gold bagged pomelo on the target and adjusted its waist downward as height increased."}, {"start_frame": 787, "end_frame": 939, "action_text": "bend at the waist while lowering the body", "skill": "AdjustPosture", "language_memory": "The robot successfully placed the gold bagged pomelo on the target."}, {"start_frame": 939, "end_frame": 1122, "action_text": "as the height decreases, the waist bends downward", "skill": "AdjustPosture", "language_memory": "The robot successfully placed the gold bagged pomelo on the target while adjusting its waist height and bending downward."}, {"start_frame": 1122, "end_frame": 1473, "action_text": "pick up the white bagged grapefruit from the shopping cart", "skill": "Pick", "language_memory": "The robot successfully placed the gold bagged pomelo on the target while adjusting its waist posture in response to height changes."}, {"start_frame": 1473, "end_frame": 1657, "action_text": "pick up the white bagged grapefruit from the shopping cart", "skill": "Pick", "language_memory": "The robot successfully placed the gold bagged pomelo on the target and picked up the white bagged grapefruit from the shopping cart."}, {"start_frame": 1657, "end_frame": 1747, "action_text": "as the height increases, the waist also rises", "skill": "AdjustPosture", "language_memory": "The robot successfully placed the gold bagged pomelo on the target and picked up the white bagged grapefruit from the shopping cart."}, {"start_frame": 1747, "end_frame": 2084, "action_text": "place the white bagged grapefruit on the shelf", "skill": "Place", "language_memory": "The robot picked up white bagged grapefruits from the shopping cart and placed gold bagged pomelos on the target while adjusting its waist height."}, {"start_frame": 2084, "end_frame": 2215, "action_text": "place the white bagged grapefruit on the shelf", "skill": "Place", "language_memory": "The robot picked up white bagged grapefruit and gold bagged pomelo from the shopping cart and placed them on the target."}], "detailed_task_instruction": ["Bend at the waist to lower your body and pick up the white bagged grapefruit from the shopping cart. As you rise, place the white bagged grapefruit on the shelf. Next, bend downward again to pick up the gold bagged pomelo from the lower area. As you stand up, place the gold bagged pomelo on the target shelf."]}
{"task_id": "task_3477", "episode_index": 36, "video_path": "task_3477/videos/chunk-000/{video_key}/episode_000036.mp4", "tasks": ["Restocking the bagged snack."], "length": 2204, "action_config": [{"start_frame": 134, "end_frame": 392, "action_text": "pick up the white bagged grapefruit from the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 392, "end_frame": 714, "action_text": "place the golden packaged grapefruit on the target", "skill": "Place", "language_memory": "The robot has picked up the white bagged grapefruit from the shelf."}, {"start_frame": 714, "end_frame": 1100, "action_text": "place the white packaged pomelo on the shelf", "skill": "Place", "language_memory": "The robot picked up a white bagged grapefruit and placed a golden packaged grapefruit on the target."}, {"start_frame": 1100, "end_frame": 1220, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot picked up a white bagged grapefruit from the shelf, placed a golden packaged grapefruit on the target, and returned a white packaged pomelo to the shelf."}, {"start_frame": 1220, "end_frame": 1410, "action_text": "pick up the golden bagged grapefruit from the shopping cart", "skill": "Pick", "language_memory": "The robot picked up a white bagged grapefruit, placed a golden packaged grapefruit on the target, and returned a white packaged pomelo to the shelf."}, {"start_frame": 1410, "end_frame": 1552, "action_text": "hand over the golden bagged pomelo", "skill": "Handover", "language_memory": "The robot picked up a white bagged grapefruit from the shelf, placed a golden packaged grapefruit on the target, placed a white packaged pomelo on the shelf, bent over, and picked up a golden bagged grapefruit from the shopping cart."}, {"start_frame": 1552, "end_frame": 1717, "action_text": "pick up the white bagged grapefruit from the shopping cart", "skill": "Pick", "language_memory": "The robot picked up a white bagged grapefruit from the shelf, placed a golden packaged grapefruit on the target, placed a white packaged pomelo on the shelf, bent over, picked up a golden bagged grapefruit from the shopping cart, and handed over a golden bagged pomelo."}, {"start_frame": 1717, "end_frame": 1773, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot picked up white and golden bagged grapefruits from the shelf and shopping cart, placed a golden packaged grapefruit on the target, returned a white packaged pomelo to the shelf, bent over, handed over a golden bagged pomelo, and picked up a white bagged grapefruit from the shopping cart."}, {"start_frame": 1773, "end_frame": 2052, "action_text": "place the white bagged grapefruit on the designated shelf position", "skill": "Place", "language_memory": "The robot has picked up and placed multiple bagged and packaged grapefruits and pomelos on the shelf, target, and shopping cart, adjusted its posture, and handed over a golden bagged pomelo."}, {"start_frame": 2052, "end_frame": 2203, "action_text": "place the golden packaged pomelo on the shelf", "skill": "Place", "language_memory": "The robot has retrieved multiple bagged grapefruits and pomelos from the shelf and shopping cart, adjusted its posture, and placed the items on the designated shelf and target."}], "detailed_task_instruction": ["Restock the bagged snacks by first bending over to pick up the white bagged grapefruit and the golden bagged grapefruit from the shopping cart. Adjust your posture as needed. Place the golden packaged grapefruit and the golden bagged pomelo onto the target. Then, position the white bagged grapefruit and the white packaged pomelo onto the shelf, ensuring the white bagged grapefruit is placed at the designated shelf position. Finally, place the golden packaged pomelo on the shelf to complete the restocking process."]}
{"task_id": "task_3477", "episode_index": 37, "video_path": "task_3477/videos/chunk-000/{video_key}/episode_000037.mp4", "tasks": ["Restocking the bagged snack."], "length": 2472, "action_config": [{"start_frame": 173, "end_frame": 241, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 241, "end_frame": 454, "action_text": "pick up the golden bagged grapefruit from the shopping cart", "skill": "Pick", "language_memory": "The robot has bent over."}, {"start_frame": 454, "end_frame": 781, "action_text": "pick up the golden bagged grapefruit from the shopping cart", "skill": "Pick", "language_memory": "The robot bent over and picked up the golden bagged grapefruit from the shopping cart."}, {"start_frame": 781, "end_frame": 868, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot bent over and picked up the golden bagged grapefruit from the shopping cart."}, {"start_frame": 868, "end_frame": 1108, "action_text": "place the golden packaged pomelo on the shelf", "skill": "Place", "language_memory": "The robot bent over, picked up the golden bagged grapefruit from the shopping cart, and adjusted its posture."}, {"start_frame": 1108, "end_frame": 1290, "action_text": "place the golden bagged grapefruit on the shelf", "skill": "Place", "language_memory": "The robot bent over, picked up the golden bagged grapefruit from the shopping cart, adjusted its posture, and placed the golden packaged pomelo on the shelf."}, {"start_frame": 1290, "end_frame": 1459, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot picked up the golden bagged grapefruit from the shopping cart and placed it on the shelf."}, {"start_frame": 1459, "end_frame": 1660, "action_text": "pick up the white bagged grapefruit from the shopping cart", "skill": "Pick", "language_memory": "The robot picked up the golden bagged grapefruit from the shopping cart and placed it on the shelf."}, {"start_frame": 1660, "end_frame": 1879, "action_text": "pick up the white bagged grapefruit from the shopping cart", "skill": "Pick", "language_memory": "The robot bent over, picked up two bagged grapefruits (one golden and one white) from the shopping cart, adjusted its posture, and placed the golden packaged pomelo and golden bagged grapefruit on the shelf."}, {"start_frame": 1879, "end_frame": 1980, "action_text": "pick up the object", "skill": "Pick", "language_memory": "The robot bent over, picked up golden and white bagged grapefruits from the shopping cart, adjusted its posture, and placed the golden packaged pomelo and bagged grapefruits on the shelf."}, {"start_frame": 1980, "end_frame": 2212, "action_text": "place the white bagged grapefruit on the designated shelf position", "skill": "Place", "language_memory": "The robot bent over, picked up golden and white bagged grapefruits from the shopping cart, adjusted its posture, and placed the golden packaged pomelo and bagged grapefruits on the shelf."}, {"start_frame": 2212, "end_frame": 2342, "action_text": "place the white bagged grapefruit on the shelf", "skill": "Place", "language_memory": "The robot bent over, picked up golden and white bagged grapefruits from the shopping cart, adjusted its posture, and placed all items on the designated shelf."}, {"start_frame": 2342, "end_frame": 2471, "action_text": "decrease height", "skill": "AdjustPosture", "language_memory": "The robot bent over, picked up golden and white bagged grapefruits from the shopping cart, adjusted its posture, and placed all items on the designated shelf."}], "detailed_task_instruction": ["Bend over and pick up the golden bagged grapefruit from the shopping cart, then adjust your posture. Place the golden bagged grapefruit on the shelf. Next, bend over again to pick up the white bagged grapefruit from the shopping cart. Finally, decrease your height and place the white bagged grapefruit on the designated shelf position."]}
{"task_id": "task_3477", "episode_index": 38, "video_path": "task_3477/videos/chunk-000/{video_key}/episode_000038.mp4", "tasks": ["Restocking the bagged snack."], "length": 3412, "action_config": [{"start_frame": 120, "end_frame": 238, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 238, "end_frame": 418, "action_text": "pick up the pink bagged grapefruit from the shopping cart", "skill": "Pick", "language_memory": "The robot has adjusted its posture."}, {"start_frame": 418, "end_frame": 577, "action_text": "hand over the pink bagged grapefruit", "skill": "Handover", "language_memory": "The robot adjusted its posture and picked up the pink bagged grapefruit from the shopping cart."}, {"start_frame": 577, "end_frame": 789, "action_text": "pick up the pink bagged grapefruit from the shopping cart", "skill": "Pick", "language_memory": "The robot adjusted its posture, picked up the pink bagged grapefruit from the shopping cart, and handed it over."}, {"start_frame": 789, "end_frame": 895, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot adjusted its posture, picked up the pink bagged grapefruit from the shopping cart, and handed it over."}, {"start_frame": 895, "end_frame": 1145, "action_text": "place the pink bagged grapefruit on the shelf", "skill": "Place", "language_memory": "The robot adjusted its posture, picked up and handed over a pink bagged grapefruit, and then picked up another pink bagged grapefruit from the shopping cart."}, {"start_frame": 1145, "end_frame": 1268, "action_text": "place the pink bagged grapefruit on the shelf", "skill": "Place", "language_memory": "The robot adjusted its posture, picked up and handed over a pink bagged grapefruit, then picked up another pink bagged grapefruit from the shopping cart and placed it on the shelf."}, {"start_frame": 1268, "end_frame": 1468, "action_text": "as the height decreases, the waist bends downward", "skill": "AdjustPosture", "language_memory": "The robot adjusted its posture, picked up pink bagged grapefruits from the shopping cart, handed one over, and placed the remaining pink bagged grapefruits on the shelf."}, {"start_frame": 1468, "end_frame": 1706, "action_text": "pick up the golden bagged grapefruit from the shopping cart", "skill": "Pick", "language_memory": "The robot adjusted its posture, picked up pink bagged grapefruits from the shopping cart, handed one over, and placed the remaining ones on the shelf while bending its waist as the height decreased."}, {"start_frame": 1706, "end_frame": 1898, "action_text": "pick up the golden bagged grapefruit from the shopping cart", "skill": "Pick", "language_memory": "The robot adjusted its posture, picked up and handed over a pink bagged grapefruit, placed two pink bagged grapefruits on the shelf, and picked up a golden bagged grapefruit from the shopping cart."}, {"start_frame": 1898, "end_frame": 1983, "action_text": "as the height increases, the waist rises upward", "skill": "AdjustPosture", "language_memory": "The robot adjusted its posture, picked up and handed over a pink bagged grapefruit, placed two pink bagged grapefruits on the shelf, bent its waist, and picked up two golden bagged grapefruits from the shopping cart."}, {"start_frame": 1983, "end_frame": 2512, "action_text": "move to the chassis", "skill": "Navigate", "language_memory": "The robot adjusted its posture, picked up and placed pink and golden bagged grapefruits on the shelf, and modified its waist height during the process."}, {"start_frame": 2512, "end_frame": 2850, "action_text": "place the golden packaged pomelo on the shelf", "skill": "Place", "language_memory": "The robot adjusted its posture, picked up and placed pink and golden bagged grapefruits on the shelf, and moved to the chassis."}, {"start_frame": 2850, "end_frame": 3057, "action_text": "place the golden bagged pomelo on the shelf", "skill": "Place", "language_memory": "The robot adjusted its posture, picked up and placed pink and golden bagged grapefruits on the shelf."}, {"start_frame": 3057, "end_frame": 3411, "action_text": "move to the chassis", "skill": "Navigate", "language_memory": "The robot adjusted its posture, picked up and placed pink bagged grapefruits and golden bagged pomelos on the shelf."}], "detailed_task_instruction": ["Adjust the robot posture and move to the chassis. Pick up the pink bagged grapefruit from the shopping cart, adjust the posture, and place it on the shelf. Repeat this process for the second pink bagged grapefruit. As the height decreases, bend the waist downward; then, pick up the golden bagged grapefruit from the shopping cart. As the height increases, rise the waist upward, move to the chassis, and place the golden bagged pomelo on the shelf."]}
{"task_id": "task_3477", "episode_index": 39, "video_path": "task_3477/videos/chunk-000/{video_key}/episode_000039.mp4", "tasks": ["Restocking the bagged snack."], "length": 3559, "action_config": [{"start_frame": 57, "end_frame": 201, "action_text": "clamp the shopping cart", "skill": "Clamp", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 201, "end_frame": 620, "action_text": "move to the chassis", "skill": "Navigate", "language_memory": "The robot has clamped the shopping cart."}, {"start_frame": 620, "end_frame": 731, "action_text": "release the shopping cart", "skill": "Release", "language_memory": "The robot clamped the shopping cart and moved to the chassis."}, {"start_frame": 731, "end_frame": 1745, "action_text": "dual-arm coordinated adjustment of shopping cart posture", "skill": "AdjustObject", "language_memory": "The robot clamped the shopping cart, moved to the chassis, and released the shopping cart."}, {"start_frame": 1745, "end_frame": 1902, "action_text": "as the height decreases, the waist bends downward", "skill": "AdjustPosture", "language_memory": "The robot clamped the shopping cart, moved to the chassis, released the cart, and performed a dual-arm coordinated adjustment to correct its posture."}, {"start_frame": 1902, "end_frame": 2313, "action_text": "pick up the orange bagged snack from the shopping cart", "skill": "Pick", "language_memory": "The robot clamped the shopping cart, moved to the chassis, released the cart, performed dual-arm coordinated adjustments to its posture, and bent its waist downward as the height decreased."}, {"start_frame": 2313, "end_frame": 2478, "action_text": "hand over the orange bag of snacks", "skill": "Handover", "language_memory": "The robot clamped the shopping cart, adjusted its posture and waist height, and successfully picked up an orange bagged snack from the cart."}, {"start_frame": 2478, "end_frame": 2721, "action_text": "pick up the green bagged snack from the shopping cart", "skill": "Pick", "language_memory": "The robot clamped the shopping cart, adjusted its posture and waist height, picked up an orange bagged snack, and handed it over."}, {"start_frame": 2721, "end_frame": 2878, "action_text": "height increases while the waistline rises", "skill": "AdjustPosture", "language_memory": "The robot clamped and adjusted the shopping cart, then picked up and handed over the orange and green bagged snacks."}, {"start_frame": 2878, "end_frame": 3134, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot clamped and adjusted the shopping cart, picked up and handed over the orange and green bagged snacks, and modified its posture by bending the waist downward and then rising."}, {"start_frame": 3134, "end_frame": 3188, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot clamped and adjusted the shopping cart posture, bent its waist to pick up orange and green bagged snacks, handed over the orange snack, and then rose while rotating its waist."}, {"start_frame": 3188, "end_frame": 3352, "action_text": "place the green packaged snacks onto the shelf", "skill": "Place", "language_memory": "The robot clamped and adjusted the shopping cart, picked up and handed over orange and green bagged snacks, and performed waist movements including bending, rising, and rotating."}, {"start_frame": 3352, "end_frame": 3516, "action_text": "place the orange packaged snacks on the shelf", "skill": "Place", "language_memory": "The robot clamped and adjusted the shopping cart, picked up orange and green bagged snacks, and placed the green snack onto the shelf."}], "detailed_task_instruction": ["After clamping the shopping cart and moving to the chassis, release the cart and perform a dual-arm coordinated adjustment of its posture. As the cart height decreases, bend the waist downward to pick up the orange bagged snack from the cart and hand it over. Subsequently, pick up the green bagged snack from the cart. As the height increases and the waistline rises, rotate the waist and bend over to place the green packaged snacks onto the shelf, followed by placing the orange packaged snacks on the shelf."]}
{"task_id": "task_3477", "episode_index": 40, "video_path": "task_3477/videos/chunk-000/{video_key}/episode_000040.mp4", "tasks": ["Restocking the bagged snack."], "length": 3444, "action_config": [{"start_frame": 48, "end_frame": 228, "action_text": "pick up the shopping cart", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 228, "end_frame": 597, "action_text": "mobile chassis", "skill": "Navigate", "language_memory": "The robot has picked up the shopping cart."}, {"start_frame": 597, "end_frame": 702, "action_text": "release the shopping cart", "skill": "Release", "language_memory": "The robot has picked up the shopping cart and moved its chassis."}, {"start_frame": 702, "end_frame": 1061, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot picked up the shopping cart, moved the chassis, and released the shopping cart."}, {"start_frame": 1061, "end_frame": 1584, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot picked up the shopping cart, moved its chassis, released the cart, and adjusted its posture."}, {"start_frame": 1584, "end_frame": 1741, "action_text": "the waist bends downward while the height decreases", "skill": "AdjustPosture", "language_memory": "The robot picked up the shopping cart, moved its chassis, released the cart, and adjusted its posture."}, {"start_frame": 1741, "end_frame": 1949, "action_text": "pick up the red packaged chicken feet from the shopping cart", "skill": "Pick", "language_memory": "The robot picked up the shopping cart, moved its chassis, released the cart, and adjusted its posture by bending the waist downward to decrease height."}, {"start_frame": 1949, "end_frame": 2067, "action_text": "hand over the red bag of chicken feet", "skill": "Handover", "language_memory": "The robot picked up the shopping cart, adjusted its posture by bending downward, and retrieved the red packaged chicken feet from the cart."}], "detailed_task_instruction": ["Restock the bagged snack by first picking up the shopping cart and moving the mobile chassis to the correct location. Release the shopping cart and adjust the robot's posture, bending the waist downward to decrease height for better access. Pick up the red packaged chicken feet from the shopping cart and hand over the red bag of chicken feet to complete the restocking process."]}
{"task_id": "task_3477", "episode_index": 41, "video_path": "task_3477/videos/chunk-000/{video_key}/episode_000041.mp4", "tasks": ["Restocking the bagged snack."], "length": 3148, "action_config": [{"start_frame": 66, "end_frame": 243, "action_text": "pick up the shopping cart", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 243, "end_frame": 618, "action_text": "move to the chassis", "skill": "Navigate", "language_memory": "The robot has picked up the shopping cart."}, {"start_frame": 618, "end_frame": 726, "action_text": "release the shopping cart", "skill": "Release", "language_memory": "The robot has picked up the shopping cart and moved to the chassis."}, {"start_frame": 726, "end_frame": 1059, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot picked up the shopping cart, moved to the chassis, and released the shopping cart."}, {"start_frame": 1059, "end_frame": 1504, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot has picked up the shopping cart, moved to the chassis, released the cart, and adjusted its posture."}, {"start_frame": 1504, "end_frame": 1670, "action_text": "bend at the waist while lowering the body", "skill": "AdjustPosture", "language_memory": "The robot picked up the shopping cart, moved to the chassis, released the cart, and adjusted its posture."}, {"start_frame": 1670, "end_frame": 1996, "action_text": "pick up the white bagged snack from the shopping cart", "skill": "Pick", "language_memory": "The robot picked up the shopping cart, moved to the chassis, released the cart, adjusted its posture, and bent at the waist while lowering its body."}, {"start_frame": 1996, "end_frame": 2108, "action_text": "hand over the white bag of snacks", "skill": "Handover", "language_memory": "The robot picked up the shopping cart, adjusted its posture, bent down, and retrieved a white bagged snack from the cart."}, {"start_frame": 2108, "end_frame": 2432, "action_text": "pick up the white bagged snack from the shopping cart", "skill": "Pick", "language_memory": "The robot picked up the shopping cart, adjusted its posture, bent down, retrieved a white bagged snack from the cart, and handed it over."}, {"start_frame": 2432, "end_frame": 2548, "action_text": "pick up the object", "skill": "Pick", "language_memory": "The robot picked up the shopping cart, adjusted its posture, bent down, and retrieved multiple white bagged snacks from the cart."}, {"start_frame": 2548, "end_frame": 2799, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot picked up the shopping cart, adjusted its posture, bent down, and retrieved multiple white bagged snacks from the cart before handing one over and picking up an additional object."}, {"start_frame": 2799, "end_frame": 2927, "action_text": "place the white bagged snacks on the shelf", "skill": "Place", "language_memory": "The robot picked up the shopping cart, adjusted its posture, bent down, and retrieved multiple white bagged snacks from the cart."}, {"start_frame": 2927, "end_frame": 3112, "action_text": "place the white packaged snacks on the shelf", "skill": "Place", "language_memory": "The robot picked up the shopping cart, adjusted its posture, bent down, retrieved white bagged snacks from the cart, and placed them on the shelf."}], "detailed_task_instruction": ["Restock the bagged snacks by first picking up the shopping cart, moving to the chassis, releasing the cart, and adjusting the robot posture. Bend at the waist to lower your body, then pick up the white bagged snack from the shopping cart and hand it over. Pick up another white bagged snack from the cart, bend over, and place both white bagged snacks onto the shelf."]}
{"task_id": "task_3477", "episode_index": 42, "video_path": "task_3477/videos/chunk-000/{video_key}/episode_000042.mp4", "tasks": ["Restocking the bagged snack."], "length": 4061, "action_config": [{"start_frame": 47, "end_frame": 219, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 219, "end_frame": 426, "action_text": "bend the waist downward while lowering the body", "skill": "AdjustPosture", "language_memory": "The robot rotated its waist."}, {"start_frame": 426, "end_frame": 724, "action_text": "pick up the red-and-white milk tea set from the shopping cart", "skill": "Pick", "language_memory": "The robot rotated its waist and bent downward to lower its body."}, {"start_frame": 724, "end_frame": 1065, "action_text": "hand over the red and white milk tea set", "skill": "Handover", "language_memory": "The robot rotated its waist, bent downward, and picked up the red-and-white milk tea set from the shopping cart."}, {"start_frame": 1065, "end_frame": 1529, "action_text": "pick up the red and white milk tea set from the shopping cart", "skill": "Pick", "language_memory": "The robot rotated its waist, bent downward, picked up the red-and-white milk tea set from the shopping cart, and handed it over."}, {"start_frame": 1529, "end_frame": 1615, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot rotated its waist, bent downward, and successfully picked up and handed over the red-and-white milk tea set from the shopping cart."}], "detailed_task_instruction": ["Rotate the waist and bend downward to pick up the red-and-white milk tea set from the shopping cart, then hand it over. Adjust the robot posture as needed. Repeat the process of picking up the red-and-white milk tea set from the shopping cart and handing it over to complete the restocking of the bagged snack."]}
{"task_id": "task_3477", "episode_index": 43, "video_path": "task_3477/videos/chunk-000/{video_key}/episode_000043.mp4", "tasks": ["Restocking the bagged snack."], "length": 3559, "action_config": [{"start_frame": 228, "end_frame": 392, "action_text": "bend at the waist while lowering the body", "skill": "AdjustPosture", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 392, "end_frame": 892, "action_text": "pick up the purple milk tea set from the shopping cart", "skill": "Pick", "language_memory": "The robot bent at the waist and lowered its body."}, {"start_frame": 892, "end_frame": 1500, "action_text": "hand over the purple milk tea set", "skill": "Handover", "language_memory": "The robot bent at the waist and picked up the purple milk tea set from the shopping cart."}, {"start_frame": 1500, "end_frame": 1974, "action_text": "pick up the orange milk tea set from the shopping cart", "skill": "Pick", "language_memory": "The robot bent at the waist, picked up the purple milk tea set from the shopping cart, and handed it over."}, {"start_frame": 1974, "end_frame": 2283, "action_text": "as height increases, the waistline rises", "skill": "AdjustPosture", "language_memory": "The robot bent at the waist, picked up the purple and orange milk tea sets from the shopping cart, and handed over the purple milk tea set."}, {"start_frame": 2283, "end_frame": 2855, "action_text": "place the orange milk tea set on the shelf", "skill": "Place", "language_memory": "The robot lowered its body, handed over the purple milk tea set, and picked up the orange milk tea set from the shopping cart."}, {"start_frame": 2855, "end_frame": 3374, "action_text": "place the purple milk tea set on the shelf", "skill": "Place", "language_memory": "The robot lowered its body, picked up and handed over the purple milk tea set, then picked up and placed the orange milk tea set on the shelf."}], "detailed_task_instruction": ["Bend at the waist to lower your body, then pick up the purple milk tea set from the shopping cart and hand it over. As you rise, pick up the orange milk tea set from the shopping cart. Finally, place both the purple and orange milk tea sets on the shelf to complete the restocking of the bagged snacks."]}
{"task_id": "task_3477", "episode_index": 45, "video_path": "task_3477/videos/chunk-000/{video_key}/episode_000045.mp4", "tasks": ["Restocking the bagged snack."], "length": 3288, "action_config": [{"start_frame": 223, "end_frame": 363, "action_text": "bend the waist downward while lowering the body", "skill": "AdjustPosture", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 363, "end_frame": 814, "action_text": "pick up the purple milk tea set from the shopping cart", "skill": "Pick", "language_memory": "The robot has bent its waist downward while lowering its body."}, {"start_frame": 814, "end_frame": 1329, "action_text": "hand over the purple milk tea set", "skill": "Handover", "language_memory": "The robot bent its waist downward and picked up the purple milk tea set from the shopping cart."}, {"start_frame": 1329, "end_frame": 1908, "action_text": "pick up the red milk tea set from the shopping cart", "skill": "Pick", "language_memory": "The robot lowered its body and handed over the purple milk tea set."}, {"start_frame": 1908, "end_frame": 2041, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot lowered its body, handed over a purple milk tea set, and picked up a red milk tea set from the shopping cart."}, {"start_frame": 2041, "end_frame": 2716, "action_text": "place the red milk tea set on the shelf", "skill": "Place", "language_memory": "The robot lowered its body, picked up and handed over the purple milk tea set, picked up the red milk tea set, and adjusted its posture."}], "detailed_task_instruction": ["Bend your waist downward to reach the shopping cart, then pick up the purple milk tea set and hand it over. Adjust your posture, pick up the red milk tea set from the cart, and place it on the shelf."]}
{"task_id": "task_3477", "episode_index": 46, "video_path": "task_3477/videos/chunk-000/{video_key}/episode_000046.mp4", "tasks": ["Restocking the bagged snack."], "length": 2436, "action_config": [{"start_frame": 43, "end_frame": 150, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 150, "end_frame": 254, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot rotated its waist."}, {"start_frame": 254, "end_frame": 700, "action_text": "pick up the purple milk tea set from the shopping cart", "skill": "Pick", "language_memory": "The robot rotated its waist and bent over."}, {"start_frame": 700, "end_frame": 1132, "action_text": "pick up the purple milk tea set from the shopping cart", "skill": "Pick", "language_memory": "The robot rotated its waist, bent over, and picked up the purple milk tea set from the shopping cart."}, {"start_frame": 1132, "end_frame": 1419, "action_text": "increase height", "skill": "AdjustPosture", "language_memory": "The robot rotated its waist, bent over, and picked up the purple milk tea set from the shopping cart."}, {"start_frame": 1419, "end_frame": 1694, "action_text": "place the purple milk tea set on the shelf", "skill": "Place", "language_memory": "The robot rotated its waist, bent over, picked up the purple milk tea set from the shopping cart, and increased its height."}, {"start_frame": 1694, "end_frame": 1941, "action_text": "place the purple milk tea set on the table", "skill": "Place", "language_memory": "The robot rotated its waist, bent over, increased its height, and placed the purple milk tea set on the shelf."}, {"start_frame": 1941, "end_frame": 2196, "action_text": "place the purple milk tea set on the shelf", "skill": "Place", "language_memory": "The robot rotated its waist, bent over, increased its height, picked up the purple milk tea set from the shopping cart, and placed it on the shelf and table."}, {"start_frame": 2196, "end_frame": 2428, "action_text": "place the purple milk tea set on the table", "skill": "Place", "language_memory": "The robot rotated its waist, bent over, increased its height, and placed the purple milk tea set on the shelf, table, and shelf."}], "detailed_task_instruction": ["Rotate your waist and bend over to pick up the purple milk tea set from the shopping cart. Increase your height and place the purple milk tea set on the shelf. Repeat this sequence of picking up the purple milk tea set from the shopping cart, increasing height, and placing it on the shelf, followed by placing it on the table, to complete the restocking process."]}
{"task_id": "task_3477", "episode_index": 47, "video_path": "task_3477/videos/chunk-000/{video_key}/episode_000047.mp4", "tasks": ["Restocking the bagged snack."], "length": 2563, "action_config": [{"start_frame": 64, "end_frame": 159, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 159, "end_frame": 245, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot rotated its waist."}, {"start_frame": 245, "end_frame": 576, "action_text": "pick up the purple milk tea set from the shopping cart", "skill": "Pick", "language_memory": "The robot rotated its waist and bent over."}, {"start_frame": 576, "end_frame": 980, "action_text": "pick up the purple milk tea set from the shopping cart", "skill": "Pick", "language_memory": "The robot rotated its waist, bent over, and picked up the purple milk tea set from the shopping cart."}, {"start_frame": 980, "end_frame": 1353, "action_text": "increase height", "skill": "AdjustPosture", "language_memory": "The robot rotated its waist, bent over, and picked up the purple milk tea set from the shopping cart."}, {"start_frame": 1353, "end_frame": 1662, "action_text": "place the purple milk tea set on the shelf", "skill": "Place", "language_memory": "The robot rotated its waist, bent over, picked up the purple milk tea set from the shopping cart, and increased its height."}, {"start_frame": 1662, "end_frame": 2306, "action_text": "place the purple milk tea set on the shelf", "skill": "Place", "language_memory": "The robot rotated its waist, bent over, increased its height, and placed the purple milk tea set on the shelf."}, {"start_frame": 2306, "end_frame": 2562, "action_text": "place the purple milk tea set on the table", "skill": "Place", "language_memory": "The robot rotated its waist, bent over, increased its height, and placed the purple milk tea set on the shelf."}], "detailed_task_instruction": ["Rotate your waist and bend over to pick up the purple milk tea set from the shopping cart. Straighten up and place the purple milk tea set on the shelf. Finally, place the purple milk tea set on the table."]}
{"task_id": "task_3477", "episode_index": 48, "video_path": "task_3477/videos/chunk-000/{video_key}/episode_000048.mp4", "tasks": ["Restocking the bagged snack."], "length": 2779, "action_config": [{"start_frame": 63, "end_frame": 146, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 146, "end_frame": 240, "action_text": "as the height decreases, the waist bends downward", "skill": "AdjustPosture", "language_memory": "The robot rotated its waist."}, {"start_frame": 240, "end_frame": 588, "action_text": "pick up the purple milk tea set from the shopping cart", "skill": "Pick", "language_memory": "The robot rotated its waist and bent downward as height decreased."}, {"start_frame": 588, "end_frame": 1226, "action_text": "pick up the red milk tea set from the shopping cart", "skill": "Pick", "language_memory": "The robot rotated its waist, bent downward as height decreased, and picked up the purple milk tea set from the shopping cart."}, {"start_frame": 1226, "end_frame": 1684, "action_text": "increase height", "skill": "AdjustPosture", "language_memory": "The robot rotated its waist, bent downward as height decreased, and picked up the purple and red milk tea sets from the shopping cart."}, {"start_frame": 1684, "end_frame": 1997, "action_text": "place the purple milk tea set on the shelf", "skill": "Place", "language_memory": "The robot rotated its waist, bent downward as height decreased, picked up the purple and red milk tea sets from the shopping cart, and increased its height."}, {"start_frame": 1997, "end_frame": 2501, "action_text": "place the red milk tea set on the shelf", "skill": "Place", "language_memory": "The robot rotated its waist, bent downward as height decreased, picked up the purple and red milk tea sets from the shopping cart, increased its height, and placed the purple milk tea set on the shelf."}, {"start_frame": 2501, "end_frame": 2723, "action_text": "place the red milk tea set on the table", "skill": "Place", "language_memory": "The robot rotated its waist, bent downward as height decreased, picked up the purple and red milk tea sets from the shopping cart, increased height, and placed both sets on the shelf."}], "detailed_task_instruction": ["Rotate the waist and bend downward as height decreases to pick up the purple milk tea set and the red milk tea set from the shopping cart. Increase height, then place the purple milk tea set on the shelf. Finally, place the red milk tea set on the shelf and subsequently on the table."]}
{"task_id": "task_3477", "episode_index": 49, "video_path": "task_3477/videos/chunk-000/{video_key}/episode_000049.mp4", "tasks": ["Restocking the bagged snack."], "length": 3410, "action_config": [{"start_frame": 281, "end_frame": 493, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 493, "end_frame": 1053, "action_text": "pick up the orange milk tea set from the shopping cart", "skill": "Pick", "language_memory": "The robot has adjusted its posture."}, {"start_frame": 1053, "end_frame": 1679, "action_text": "pick up the orange milk tea set from the shopping cart", "skill": "Pick", "language_memory": "The robot adjusted its posture and picked up the orange milk tea set from the shopping cart."}, {"start_frame": 1679, "end_frame": 1995, "action_text": "decrease height", "skill": "AdjustPosture", "language_memory": "The robot adjusted its posture and picked up the orange milk tea set from the shopping cart."}, {"start_frame": 1995, "end_frame": 2808, "action_text": "place the orange milk tea set on the shelf", "skill": "Place", "language_memory": "The robot adjusted its posture, decreased its height, and picked up the orange milk tea set from the shopping cart."}, {"start_frame": 2808, "end_frame": 3111, "action_text": "place the orange milk tea set onto the shelf", "skill": "Place", "language_memory": "The robot adjusted its posture, picked up the orange milk tea set from the shopping cart, decreased its height, and placed the set on the shelf."}, {"start_frame": 3111, "end_frame": 3317, "action_text": "place the orange milk tea set on the table", "skill": "Place", "language_memory": "The robot adjusted its posture, picked up the orange milk tea set from the shopping cart, and placed it on the shelf."}], "detailed_task_instruction": ["Adjust the robot posture and decrease its height to access the shopping cart. Pick up the orange milk tea set from the cart and place it onto the shelf. Afterward, pick up the orange milk tea set again from the cart and place it on the table to complete the restocking of the bagged snack."]}
{"task_id": "task_3477", "episode_index": 50, "video_path": "task_3477/videos/chunk-000/{video_key}/episode_000050.mp4", "tasks": ["Restocking the bagged snack."], "length": 3142, "action_config": [{"start_frame": 231, "end_frame": 360, "action_text": "as the height decreases, the waist bends downward", "skill": "AdjustPosture", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 360, "end_frame": 883, "action_text": "pick up the orange milk tea set from the shopping cart", "skill": "Pick", "language_memory": "The robot bent its waist downward as the height decreased."}, {"start_frame": 883, "end_frame": 1264, "action_text": "pick up the purple milk tea set from the shopping cart", "skill": "Pick", "language_memory": "The robot bent its waist downward as height decreased and picked up the orange milk tea set from the shopping cart."}, {"start_frame": 1264, "end_frame": 1415, "action_text": "as the height increases, the waist rises upward", "skill": "AdjustPosture", "language_memory": "The robot adjusted its waist downward as height decreased and picked up the orange and purple milk tea sets from the shopping cart."}, {"start_frame": 1415, "end_frame": 2205, "action_text": "place the orange milk tea set onto the shelf", "skill": "Place", "language_memory": "The robot adjusted its waist height and picked up the orange and purple milk tea sets from the shopping cart."}, {"start_frame": 2205, "end_frame": 2386, "action_text": "place the orange milk tea set on the table", "skill": "Place", "language_memory": "The robot adjusted its waist height, picked up the orange and purple milk tea sets from the shopping cart, and placed the orange milk tea set onto the shelf."}, {"start_frame": 2386, "end_frame": 2485, "action_text": "increase height", "skill": "AdjustPosture", "language_memory": "The robot picked up the orange and purple milk tea sets from the shopping cart, adjusted its waist height, placed the orange milk tea set on the shelf, and then placed it on the table."}, {"start_frame": 2485, "end_frame": 3129, "action_text": "place the purple milk tea set on the shelf", "skill": "Place", "language_memory": "The robot adjusted its waist height, picked up the orange and purple milk tea sets from the shopping cart, and placed the orange milk tea set onto the shelf and the table."}], "detailed_task_instruction": ["Begin by increasing your height and bending your waist downward. Pick up the orange milk tea set from the shopping cart and place it onto the shelf. Next, pick up the purple milk tea set from the shopping cart and place it onto the shelf. Finally, increase your height and bend your waist upward to complete the restocking of the bagged snacks."]}
{"task_id": "task_3477", "episode_index": 51, "video_path": "task_3477/videos/chunk-000/{video_key}/episode_000051.mp4", "tasks": ["Restocking the bagged snack."], "length": 2958, "action_config": [{"start_frame": 253, "end_frame": 395, "action_text": "as the height decreases, the waist bends downward", "skill": "AdjustPosture", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 395, "end_frame": 674, "action_text": "pick up the purple milk tea set from the shopping cart", "skill": "Pick", "language_memory": "The robot bent its waist downward as the height decreased."}, {"start_frame": 674, "end_frame": 1042, "action_text": "hand over the purple milk tea set", "skill": "Handover", "language_memory": "The robot bent its waist downward as height decreased and picked up the purple milk tea set from the shopping cart."}, {"start_frame": 1042, "end_frame": 1532, "action_text": "pick up the orange milk tea set from the shopping cart", "skill": "Pick", "language_memory": "The robot adjusted its waist height and handed over the purple milk tea set."}, {"start_frame": 1532, "end_frame": 2145, "action_text": "place the orange milk tea set on the shelf", "skill": "Place", "language_memory": "The robot adjusted its waist height, handed over a purple milk tea set, and picked up an orange milk tea set from the shopping cart."}, {"start_frame": 2145, "end_frame": 2469, "action_text": "place the orange milk tea set on the table", "skill": "Place", "language_memory": "The robot adjusted its waist height, picked up and handed over a purple milk tea set, then picked up and placed an orange milk tea set on the shelf."}, {"start_frame": 2469, "end_frame": 2581, "action_text": "increase height", "skill": "AdjustPosture", "language_memory": "The robot adjusted its waist height, retrieved a purple milk tea set from the shopping cart, handed it over, picked up an orange milk tea set from the shopping cart, and placed the orange milk tea set on both the shelf and the table."}, {"start_frame": 2581, "end_frame": 2791, "action_text": "place the purple milk tea set on the shelf", "skill": "Place", "language_memory": "The robot adjusted its waist height, retrieved a purple milk tea set from the shopping cart and handed it over, then picked up an orange milk tea set from the cart and placed it on both the shelf and the table before increasing its height."}, {"start_frame": 2791, "end_frame": 2957, "action_text": "place the purple milk tea set on the table", "skill": "Place", "language_memory": "The robot adjusted its waist height, retrieved purple and orange milk tea sets from the shopping cart, and placed both items on the shelf and table."}], "detailed_task_instruction": ["As the bagged snack height decreases, bend your waist downward. Pick up the purple milk tea set from the shopping cart and hand it over. Increase your height, then pick up the orange milk tea set from the shopping cart. Place the orange milk tea set on the shelf and subsequently on the table. Finally, place the purple milk tea set on the shelf and then on the table."]}
{"task_id": "task_3477", "episode_index": 52, "video_path": "task_3477/videos/chunk-000/{video_key}/episode_000052.mp4", "tasks": ["Restocking the bagged snack."], "length": 2064, "action_config": [{"start_frame": 49, "end_frame": 211, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 211, "end_frame": 319, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot rotated its waist."}, {"start_frame": 319, "end_frame": 675, "action_text": "pick up the orange milk tea set from the shopping cart", "skill": "Pick", "language_memory": "The robot rotated its waist and adjusted its posture."}, {"start_frame": 675, "end_frame": 1001, "action_text": "pick up the red milk tea set from the shopping cart", "skill": "Pick", "language_memory": "The robot rotated its waist, adjusted its posture, and picked up the orange milk tea set from the shopping cart."}, {"start_frame": 1001, "end_frame": 1187, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot rotated its waist, adjusted its posture, and picked up the orange and red milk tea sets from the shopping cart."}, {"start_frame": 1187, "end_frame": 1479, "action_text": "place the orange milk tea set on the shelf", "skill": "Place", "language_memory": "The robot adjusted its posture, rotated its waist, and picked up the orange and red milk tea sets from the shopping cart."}, {"start_frame": 1479, "end_frame": 1659, "action_text": "place the orange milk tea set on the table", "skill": "Place", "language_memory": "The robot adjusted its posture, rotated its waist, picked up the orange and red milk tea sets from the shopping cart, and placed the orange milk tea set on the shelf."}, {"start_frame": 1659, "end_frame": 1900, "action_text": "place the red milk tea set on the shelf", "skill": "Place", "language_memory": "The robot adjusted its posture, rotated its waist, picked up the orange and red milk tea sets from the shopping cart, and placed the orange milk tea set on the shelf and the table."}, {"start_frame": 1900, "end_frame": 2063, "action_text": "place the red milk tea set on the table", "skill": "Place", "language_memory": "The robot adjusted its posture, rotated its waist, picked up the orange and red milk tea sets from the shopping cart, and placed them on the shelf and table."}], "detailed_task_instruction": ["After rotating the waist and adjusting the robot posture, pick up the orange milk tea set from the shopping cart. Rotate the waist again, then place the orange milk tea set on the shelf and subsequently on the table. Next, pick up the red milk tea set from the shopping cart and place it on the shelf, followed by placing it on the table. This sequence ensures both the orange and red milk tea sets are restocked from the cart to the shelf and then to the table."]}
{"task_id": "task_3477", "episode_index": 53, "video_path": "task_3477/videos/chunk-000/{video_key}/episode_000053.mp4", "tasks": ["Restocking the bagged snack."], "length": 2983, "action_config": [{"start_frame": 237, "end_frame": 351, "action_text": "as the height decreases, the waist bends downward", "skill": "AdjustPosture", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 351, "end_frame": 686, "action_text": "pick up the red and white milk tea set from the shopping cart", "skill": "Pick", "language_memory": "The robot bent its waist downward as the height decreased."}, {"start_frame": 686, "end_frame": 1434, "action_text": "pick up the purple milk tea set from the shopping cart", "skill": "Pick", "language_memory": "The robot bent its waist downward as height decreased and picked up the red and white milk tea set from the shopping cart."}, {"start_frame": 1434, "end_frame": 1948, "action_text": "place the red and white milk tea set on the first shelf", "skill": "Place", "language_memory": "The robot adjusted its waist downward as height decreased and picked up the red and white milk tea set and the purple milk tea set from the shopping cart."}, {"start_frame": 1948, "end_frame": 2094, "action_text": "place the red and white milk tea set on the table", "skill": "Place", "language_memory": "The robot adjusted its waist height, picked up the red and white and purple milk tea sets from the shopping cart, and placed the red and white set on the first shelf."}, {"start_frame": 2094, "end_frame": 2295, "action_text": "increase height", "skill": "AdjustPosture", "language_memory": "The robot adjusted its waist height, picked up the red and white and purple milk tea sets from the shopping cart, and placed the red and white set on both the first shelf and the table."}, {"start_frame": 2295, "end_frame": 2785, "action_text": "place the purple milk tea set on the second shelf", "skill": "Place", "language_memory": "The robot adjusted its waist height, retrieved red and white and purple milk tea sets from the shopping cart, and placed the red and white set on both the first shelf and the table."}, {"start_frame": 2785, "end_frame": 2966, "action_text": "place the purple milk tea set on the table", "skill": "Place", "language_memory": "The robot adjusted its waist height, retrieved red and white and purple milk tea sets from the shopping cart, and placed them on the first shelf, table, and second shelf respectively."}], "detailed_task_instruction": ["Restock the bagged snacks by first bending down as the shelf height decreases to pick up the red and white milk tea set and the purple milk tea set from the shopping cart. Stand up to increase your height, then place the red and white milk tea set on the first shelf and subsequently on the table. Next, place the purple milk tea set on the second shelf and finally on the table."]}
{"task_id": "task_3477", "episode_index": 54, "video_path": "task_3477/videos/chunk-000/{video_key}/episode_000054.mp4", "tasks": ["Restocking the bagged snack."], "length": 2753, "action_config": [{"start_frame": 193, "end_frame": 259, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 259, "end_frame": 750, "action_text": "pick up the orange milk tea set from the shopping cart", "skill": "Pick", "language_memory": "The robot has adjusted its posture."}, {"start_frame": 750, "end_frame": 1153, "action_text": "pick up the purple milk tea set from the shopping cart", "skill": "Pick", "language_memory": "The robot adjusted its posture and picked up the orange milk tea set from the shopping cart."}, {"start_frame": 1153, "end_frame": 1236, "action_text": "as the height increases, the waist rises upward", "skill": "AdjustPosture", "language_memory": "The robot adjusted its posture and picked up the orange and purple milk tea sets from the shopping cart."}, {"start_frame": 1236, "end_frame": 1897, "action_text": "place the orange milk tea set on the shelf", "skill": "Place", "language_memory": "The robot adjusted its posture, picked up the orange and purple milk tea sets from the shopping cart, and raised its waist as height increased."}, {"start_frame": 1897, "end_frame": 2091, "action_text": "place the orange milk tea set on the table", "skill": "Place", "language_memory": "The robot adjusted its posture, picked up the orange and purple milk tea sets from the shopping cart, and placed the orange milk tea set on the shelf."}, {"start_frame": 2091, "end_frame": 2257, "action_text": "increase height", "skill": "AdjustPosture", "language_memory": "The robot adjusted its posture, picked up the orange and purple milk tea sets from the shopping cart, and placed the orange milk tea set on both the shelf and the table."}, {"start_frame": 2257, "end_frame": 2575, "action_text": "place the purple milk tea set on the shelf", "skill": "Place", "language_memory": "The robot adjusted its posture and height, picked up the orange and purple milk tea sets from the shopping cart, and placed the orange milk tea set on the shelf and the table."}, {"start_frame": 2575, "end_frame": 2735, "action_text": "place the purple milk tea set on the table", "skill": "Place", "language_memory": "The robot adjusted its posture and height, picked up the orange and purple milk tea sets from the shopping cart, and placed both on the shelf and table."}], "detailed_task_instruction": ["Adjust the robot posture and increase height as the waist rises upward. Pick up the orange milk tea set from the shopping cart, then place it on the shelf and subsequently on the table. Next, pick up the purple milk tea set from the shopping cart, place it on the shelf, and finally place it on the table to complete the restocking of the bagged snacks."]}
{"task_id": "task_3477", "episode_index": 56, "video_path": "task_3477/videos/chunk-000/{video_key}/episode_000056.mp4", "tasks": ["Restocking the bagged snack."], "length": 2764, "action_config": [{"start_frame": 231, "end_frame": 299, "action_text": "as the height decreases, the waist bends downward", "skill": "AdjustPosture", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 299, "end_frame": 750, "action_text": "pick up the red milk tea set from the shopping cart", "skill": "Pick", "language_memory": "The robot bent its waist downward as the height decreased."}, {"start_frame": 750, "end_frame": 1363, "action_text": "pick up the orange milk tea set from the shopping cart", "skill": "Pick", "language_memory": "The robot bent its waist downward as height decreased and picked up the red milk tea set from the shopping cart."}, {"start_frame": 1363, "end_frame": 1574, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot adjusted its waist downward as height decreased and picked up the red and orange milk tea sets from the shopping cart."}, {"start_frame": 1574, "end_frame": 1966, "action_text": "place the red milk tea set on the shelf", "skill": "Place", "language_memory": "The robot adjusted its waist height and orientation, then picked up the red and orange milk tea sets from the shopping cart."}, {"start_frame": 1966, "end_frame": 2130, "action_text": "place the red milk tea set on the table", "skill": "Place", "language_memory": "The robot adjusted its waist height and rotation, picked up the red and orange milk tea sets from the shopping cart, and placed the red milk tea set on the shelf."}, {"start_frame": 2130, "end_frame": 2437, "action_text": "place the orange milk tea set on the shelf", "skill": "Place", "language_memory": "The robot bent its waist downward, picked up the red and orange milk tea sets from the shopping cart, rotated its waist, and placed the red milk tea set on the shelf and the table."}, {"start_frame": 2437, "end_frame": 2720, "action_text": "place the orange milk tea set on the table", "skill": "Place", "language_memory": "The robot adjusted its waist posture, picked up red and orange milk tea sets from the shopping cart, and placed them on the shelf and table."}], "detailed_task_instruction": ["Restock the bagged snacks by first picking up the red milk tea set from the shopping cart, then the orange milk tea set. As the shelf height decreases, bend your waist downward to place the red milk tea set on the shelf, followed by placing it on the table. Rotate your waist to access the next location, then place the orange milk tea set on the shelf and subsequently on the table."]}
{"task_id": "task_3477", "episode_index": 57, "video_path": "task_3477/videos/chunk-000/{video_key}/episode_000057.mp4", "tasks": ["Restocking the bagged snack."], "length": 1416, "action_config": [{"start_frame": 40, "end_frame": 355, "action_text": "pick up the orange milk tea set from the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 355, "end_frame": 648, "action_text": "pick up the orange milk tea set from the shelf", "skill": "Pick", "language_memory": "The robot has picked up the orange milk tea set from the shelf."}, {"start_frame": 648, "end_frame": 934, "action_text": "decrease height", "skill": "AdjustPosture", "language_memory": "The robot picked up the orange milk tea set from the shelf."}, {"start_frame": 934, "end_frame": 1210, "action_text": "place the orange milk tea set into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the orange milk tea set from the shelf and decreased its height."}, {"start_frame": 1210, "end_frame": 1409, "action_text": "place the orange milk tea set into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the orange milk tea set from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Restock the bagged snack by first picking up the orange milk tea set from the shelf, lowering your height, and then placing the orange milk tea set into the shopping cart."]}
{"task_id": "task_3477", "episode_index": 58, "video_path": "task_3477/videos/chunk-000/{video_key}/episode_000058.mp4", "tasks": ["Restocking the bagged snack."], "length": 1576, "action_config": [{"start_frame": 48, "end_frame": 420, "action_text": "pick up the red milk tea set from the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 420, "end_frame": 787, "action_text": "pick up the purple milk tea set from the shelf", "skill": "Pick", "language_memory": "The robot has picked up the red milk tea set from the shelf."}, {"start_frame": 787, "end_frame": 1147, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot has picked up the red and purple milk tea sets from the shelf."}, {"start_frame": 1147, "end_frame": 1334, "action_text": "place the red milk tea set into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up the red and purple milk tea sets from the shelf and adjusted its posture."}, {"start_frame": 1334, "end_frame": 1568, "action_text": "place the purple milk tea set into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the red and purple milk tea sets from the shelf, adjusted its posture, and placed the red milk tea set into the shopping cart."}], "detailed_task_instruction": ["Restock the bagged snacks by first picking up the red milk tea set from the shelf, followed by picking up the purple milk tea set from the shelf. After adjusting the robot posture, place the red milk tea set into the shopping cart, and then place the purple milk tea set into the shopping cart."]}
{"task_id": "task_3477", "episode_index": 59, "video_path": "task_3477/videos/chunk-000/{video_key}/episode_000059.mp4", "tasks": ["Restocking the bagged snack."], "length": 1736, "action_config": [{"start_frame": 65, "end_frame": 217, "action_text": "increase height", "skill": "AdjustPosture", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 217, "end_frame": 584, "action_text": "pick up the purple milk tea set from the shelf", "skill": "Pick", "language_memory": "The robot has increased its height."}, {"start_frame": 584, "end_frame": 1017, "action_text": "pick up the orange milk tea set from the shelf", "skill": "Pick", "language_memory": "The robot increased its height and picked up the purple milk tea set from the shelf."}, {"start_frame": 1017, "end_frame": 1430, "action_text": "decrease height", "skill": "AdjustPosture", "language_memory": "The robot increased its height and picked up the purple and orange milk tea sets from the shelf."}, {"start_frame": 1430, "end_frame": 1642, "action_text": "place the orange milk tea set into the shopping cart", "skill": "Place", "language_memory": "The robot adjusted its height, retrieved the purple and orange milk tea sets from the shelf, and returned to a lower position."}, {"start_frame": 1642, "end_frame": 1735, "action_text": "place the purple milk tea set into the shopping cart", "skill": "Place", "language_memory": "The robot increased its height, retrieved the purple and orange milk tea sets from the shelf, decreased its height, and placed the orange milk tea set into the shopping cart."}], "detailed_task_instruction": ["Adjust your height to reach the shelf, then pick up the purple milk tea set followed by the orange milk tea set. Lower your height and place both the orange and purple milk tea sets into the shopping cart to complete the restocking of the bagged snack."]}
{"task_id": "task_3477", "episode_index": 60, "video_path": "task_3477/videos/chunk-000/{video_key}/episode_000060.mp4", "tasks": ["Restocking the bagged snack."], "length": 1715, "action_config": [{"start_frame": 79, "end_frame": 455, "action_text": "pick up the orange milk tea set from the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 455, "end_frame": 771, "action_text": "pick up the purple milk tea set from the shelf", "skill": "Pick", "language_memory": "The robot has picked up the orange milk tea set from the shelf."}, {"start_frame": 771, "end_frame": 1078, "action_text": "as the height decreases, the waist bends downward", "skill": "AdjustPosture", "language_memory": "The robot has picked up the orange and purple milk tea sets from the shelf."}, {"start_frame": 1078, "end_frame": 1488, "action_text": "place the orange milk tea set into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up the orange and purple milk tea sets from the shelf and adjusted its waist posture downward as height decreased."}, {"start_frame": 1488, "end_frame": 1695, "action_text": "place the purple milk tea set into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the orange and purple milk tea sets from the shelf, adjusted its waist height, and placed the orange milk tea set into the shopping cart."}], "detailed_task_instruction": ["Restock the bagged snacks by first picking up the orange milk tea set from the shelf and placing it into the shopping cart. Next, pick up the purple milk tea set from the shelf and place it into the shopping cart. While performing these actions, bend your waist downward as the shelf height decreases to reach the items comfortably."]}
{"task_id": "task_3477", "episode_index": 61, "video_path": "task_3477/videos/chunk-000/{video_key}/episode_000061.mp4", "tasks": ["Restocking the bagged snack."], "length": 1830, "action_config": [{"start_frame": 34, "end_frame": 400, "action_text": "pick up the purple milk tea set from the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 400, "end_frame": 969, "action_text": "pick up the orange milk tea set from the shelf", "skill": "Pick", "language_memory": "The robot has picked up the purple milk tea set from the shelf."}, {"start_frame": 969, "end_frame": 1264, "action_text": "decrease height", "skill": "AdjustPosture", "language_memory": "The robot has picked up the purple and orange milk tea sets from the shelf."}, {"start_frame": 1264, "end_frame": 1435, "action_text": "place the purple milk tea set into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up the purple and orange milk tea sets from the shelf and decreased its height."}, {"start_frame": 1435, "end_frame": 1792, "action_text": "place the orange milk tea set into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the purple and orange milk tea sets from the shelf, adjusted its height, and placed the purple milk tea set into the shopping cart."}], "detailed_task_instruction": ["Restock the bagged snacks by first picking up the purple milk tea set from the shelf, then picking up the orange milk tea set from the shelf. After decreasing your height, place both the purple and orange milk tea sets into the shopping cart."]}
{"task_id": "task_3477", "episode_index": 62, "video_path": "task_3477/videos/chunk-000/{video_key}/episode_000062.mp4", "tasks": ["Restocking the bagged snack."], "length": 1136, "action_config": [{"start_frame": 52, "end_frame": 297, "action_text": "pick up the orange milk tea set from the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 297, "end_frame": 538, "action_text": "pick up the orange milk tea set from the shelf", "skill": "Pick", "language_memory": "The robot has picked up the orange milk tea set from the shelf."}, {"start_frame": 538, "end_frame": 709, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the orange milk tea set from the shelf."}, {"start_frame": 709, "end_frame": 811, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot picked up the orange milk tea set from the shelf and rotated its waist."}, {"start_frame": 811, "end_frame": 947, "action_text": "place the orange milk tea set into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the orange milk tea set from the shelf and rotated its waist while bending over."}, {"start_frame": 947, "end_frame": 1135, "action_text": "place the orange milk tea set into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the orange milk tea set from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Restock the bagged snack by first picking up the orange milk tea set from the shelf, rotating your waist, bending over to reach, and then placing the orange milk tea set into the shopping cart."]}
{"task_id": "task_3477", "episode_index": 64, "video_path": "task_3477/videos/chunk-000/{video_key}/episode_000064.mp4", "tasks": ["Restocking the bagged snack."], "length": 1423, "action_config": [{"start_frame": 52, "end_frame": 372, "action_text": "pick up the orange milk tea set from the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 372, "end_frame": 717, "action_text": "pick up the orange milk tea set from the shelf", "skill": "Pick", "language_memory": "The robot has picked up the orange milk tea set from the shelf."}, {"start_frame": 717, "end_frame": 963, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot picked up the orange milk tea set from the shelf."}, {"start_frame": 963, "end_frame": 1115, "action_text": "place the orange milk tea set into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the orange milk tea set from the shelf and bent over."}, {"start_frame": 1115, "end_frame": 1410, "action_text": "place the orange milk tea set into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the orange milk tea set from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Bend over to the shelf and pick up the orange milk tea set, then place it into the shopping cart."]}
{"task_id": "task_3477", "episode_index": 65, "video_path": "task_3477/videos/chunk-000/{video_key}/episode_000065.mp4", "tasks": ["Restocking the bagged snack."], "length": 1893, "action_config": [{"start_frame": 66, "end_frame": 410, "action_text": "pick up the purple milk tea set from the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 410, "end_frame": 825, "action_text": "pick up the orange milk tea set from the shelf", "skill": "Pick", "language_memory": "The robot has picked up the purple milk tea set from the shelf."}, {"start_frame": 825, "end_frame": 1058, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot has picked up the purple and orange milk tea sets from the shelf."}, {"start_frame": 1058, "end_frame": 1237, "action_text": "place the orange milk tea set into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up the purple and orange milk tea sets from the shelf and bent over."}, {"start_frame": 1237, "end_frame": 1892, "action_text": "place the purple milk tea set into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the purple and orange milk tea sets from the shelf, bent over, and placed the orange milk tea set into the shopping cart."}], "detailed_task_instruction": ["Restock the bagged snacks by first picking up the purple milk tea set from the shelf, then picking up the orange milk tea set from the shelf. After bending over, place the orange milk tea set into the shopping cart, followed by placing the purple milk tea set into the shopping cart."]}
{"task_id": "task_3641", "episode_index": 0, "video_path": "task_3641/videos/chunk-000/{video_key}/episode_000000.mp4", "tasks": ["Restocking the bagged snack."], "length": 2270, "action_config": [{"start_frame": 98, "end_frame": 244, "action_text": "pick up the yellow packaged cookies from the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 244, "end_frame": 348, "action_text": "pick up the yellow packaged cookies from the shelf", "skill": "Pick", "language_memory": "The robot has picked up the yellow packaged cookies from the shelf."}, {"start_frame": 348, "end_frame": 463, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot has picked up yellow packaged cookies from the shelf."}, {"start_frame": 463, "end_frame": 544, "action_text": "place the yellow packaged cookies into the shopping cart", "skill": "Place", "language_memory": "The robot picked up yellow packaged cookies from the shelf and bent over."}, {"start_frame": 544, "end_frame": 650, "action_text": "place the yellow bag of cookies into the shopping cart", "skill": "Place", "language_memory": "The robot picked up yellow packaged cookies from the shelf and placed them into the shopping cart."}, {"start_frame": 650, "end_frame": 703, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot has picked up yellow packaged cookies from the shelf and placed them into the shopping cart."}, {"start_frame": 703, "end_frame": 791, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up yellow packaged cookies from the shelf and placed them into the shopping cart."}, {"start_frame": 791, "end_frame": 958, "action_text": "pick up the white packaged biscuits from the shelf", "skill": "Pick", "language_memory": "The robot has picked up yellow packaged cookies from the shelf and placed them into the shopping cart."}, {"start_frame": 958, "end_frame": 1057, "action_text": "pick up the yellow packaged cookies from the shelf", "skill": "Pick", "language_memory": "The robot picked up yellow packaged cookies and white packaged biscuits from the shelf, adjusted its posture, and placed the cookies into the shopping cart."}, {"start_frame": 1057, "end_frame": 1185, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot has picked up multiple yellow packaged cookies and white packaged biscuits from the shelf and placed them into the shopping cart."}, {"start_frame": 1185, "end_frame": 1274, "action_text": "place the yellow bagged cookies into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up multiple packages of yellow cookies and white biscuits from the shelf and placed them into the shopping cart."}, {"start_frame": 1274, "end_frame": 1421, "action_text": "place the white bagged cookies into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up multiple yellow packaged cookies and white packaged biscuits from the shelf and placed them into the shopping cart."}, {"start_frame": 1421, "end_frame": 1465, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot has successfully retrieved multiple yellow and white packaged cookies from the shelf and placed them into the shopping cart."}, {"start_frame": 1465, "end_frame": 1589, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot has successfully retrieved multiple yellow and white packaged cookies from the shelf and placed them into the shopping cart."}, {"start_frame": 1589, "end_frame": 1672, "action_text": "pick up the yellow packaged cookies from the shelf", "skill": "Pick", "language_memory": "The robot has successfully retrieved multiple yellow and white packaged cookies from the shelf and placed them into the shopping cart."}, {"start_frame": 1672, "end_frame": 1803, "action_text": "pick up the green packaged cookies from the shelf", "skill": "Pick", "language_memory": "The robot has successfully retrieved multiple yellow and white packaged cookies from the shelf and placed them into the shopping cart."}, {"start_frame": 1803, "end_frame": 1925, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot has successfully retrieved multiple yellow, white, and green packaged cookies from the shelf and placed them into the shopping cart."}, {"start_frame": 1925, "end_frame": 2007, "action_text": "place the green bagged cookies into the shopping cart", "skill": "Place", "language_memory": "The robot has successfully picked up multiple yellow, white, and green packaged cookies from the shelf and placed them into the shopping cart."}, {"start_frame": 2007, "end_frame": 2123, "action_text": "place the yellow packaged cookies into the shopping cart", "skill": "Place", "language_memory": "The robot has successfully retrieved multiple yellow, white, and green packaged cookies from the shelf and placed them into the shopping cart."}, {"start_frame": 2123, "end_frame": 2169, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot has successfully retrieved multiple yellow, white, and green packaged cookies from the shelf and placed them into the shopping cart."}, {"start_frame": 2169, "end_frame": 2234, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has successfully restocked multiple types of bagged cookies, including yellow, white, and green packages, by picking them from the shelf and placing them into the shopping cart."}, {"start_frame": 2234, "end_frame": 2269, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot has successfully restocked multiple types of bagged cookies, including yellow, white, and green packages, by picking them from the shelf and placing them into the shopping cart."}], "detailed_task_instruction": ["Restock the bagged snacks by first picking up yellow packaged cookies from the shelf and placing them into the shopping cart. Next, retrieve a white packaged biscuit and a yellow bag of cookies from the shelf, then place both items into the shopping cart. Finally, pick up a green packaged cookie and another yellow packaged cookie from the shelf and place them into the shopping cart. Throughout the process, adjust the robot posture and rotate the waist as needed to reach the items on the shelf and position the goods correctly in the cart."]}
{"task_id": "task_3641", "episode_index": 1, "video_path": "task_3641/videos/chunk-000/{video_key}/episode_000001.mp4", "tasks": ["Restocking the bagged snack."], "length": 2100, "action_config": [{"start_frame": 22, "end_frame": 153, "action_text": "pick up the white bagged snack from the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 153, "end_frame": 263, "action_text": "pick up the black bag of quail eggs from the shelf", "skill": "Pick", "language_memory": "The robot has picked up the white bagged snack from the shelf."}, {"start_frame": 263, "end_frame": 395, "action_text": "as the height decreases, the waist bends downward", "skill": "AdjustPosture", "language_memory": "The robot has picked up the white bagged snack and the black bag of quail eggs from the shelf."}, {"start_frame": 395, "end_frame": 493, "action_text": "place the black bag of quail eggs into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up a white bagged snack and a black bag of quail eggs from the shelf and adjusted its waist posture downward as height decreased."}, {"start_frame": 493, "end_frame": 619, "action_text": "place the white bag of snacks into the shopping cart", "skill": "Place", "language_memory": "The robot picked up a white bagged snack and a black bag of quail eggs from the shelf, adjusted its waist height, and placed the quail eggs into the shopping cart."}, {"start_frame": 619, "end_frame": 662, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot picked up a white bagged snack and a black bag of quail eggs from the shelf, adjusted its waist height, and placed both items into the shopping cart."}, {"start_frame": 662, "end_frame": 860, "action_text": "pick up the red bagged snack from the shelf", "skill": "Pick", "language_memory": "The robot picked up a white bagged snack and a black bag of quail eggs from the shelf, adjusted its posture, and placed both items into the shopping cart."}, {"start_frame": 860, "end_frame": 956, "action_text": "pick up the yellow packaged chicken feet from the shelf", "skill": "Pick", "language_memory": "The robot picked up white and red bagged snacks and a black bag of quail eggs from the shelf, adjusted its posture, and placed the black bag and white bag into the shopping cart."}, {"start_frame": 956, "end_frame": 1073, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot retrieved white bagged snacks, black quail eggs, red bagged snacks, and yellow packaged chicken feet from the shelf and placed the quail eggs and white bagged snacks into the shopping cart."}, {"start_frame": 1073, "end_frame": 1156, "action_text": "place the yellow packaged chicken feet into the shopping cart", "skill": "Place", "language_memory": "The robot retrieved white bagged snacks, black quail eggs, red bagged snacks, and yellow packaged chicken feet from the shelf and placed all items into the shopping cart while adjusting its posture."}, {"start_frame": 1156, "end_frame": 1268, "action_text": "place the red packaged snacks into the shopping cart", "skill": "Place", "language_memory": "The robot has successfully retrieved and placed the white bagged snack, black bag of quail eggs, red bagged snack, and yellow packaged chicken feet into the shopping cart while adjusting its posture as needed."}, {"start_frame": 1268, "end_frame": 1325, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot has successfully retrieved and placed multiple items, including white bagged snacks, black quail eggs, red bagged snacks, and yellow packaged chicken feet, into the shopping cart while adjusting its posture as needed."}, {"start_frame": 1325, "end_frame": 1398, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has successfully retrieved and placed multiple items, including white bagged snacks, black quail eggs, red bagged snacks, and yellow packaged chicken feet, into the shopping cart while adjusting its posture as needed."}, {"start_frame": 1398, "end_frame": 1529, "action_text": "pick up the white bagged snack from the shelf", "skill": "Pick", "language_memory": "The robot has successfully retrieved and placed multiple items, including white bagged snacks, black quail eggs, red bagged snacks, and yellow packaged chicken feet, into the shopping cart while adjusting its posture and rotating its waist."}, {"start_frame": 1529, "end_frame": 1634, "action_text": "pick up the black bagged eggs from the shelf", "skill": "Pick", "language_memory": "The robot has successfully retrieved multiple items including white bagged snacks, a black bag of quail eggs, red bagged snacks, and yellow packaged chicken feet from the shelf and placed them into the shopping cart, while adjusting its posture and rotating its waist throughout the process."}, {"start_frame": 1634, "end_frame": 1741, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot has successfully restocked the shopping cart with multiple items, including white bagged snacks, black bags of quail eggs, red bagged snacks, and yellow packaged chicken feet, while adjusting its posture and rotating its waist throughout the process."}, {"start_frame": 1741, "end_frame": 1826, "action_text": "place the black bag of eggs into the shopping cart", "skill": "Place", "language_memory": "The robot has successfully restocked multiple types of bagged snacks, quail eggs, and packaged chicken feet from the shelf into the shopping cart, including several instances of picking up and placing white bagged snacks, black bags of eggs, red bagged snacks, and yellow packaged chicken feet, while adjusting its posture and bending to access items at varying heights."}, {"start_frame": 1826, "end_frame": 1933, "action_text": "place the white bag of snacks into the shopping cart", "skill": "Place", "language_memory": "The robot has successfully restocked multiple items including white bagged snacks, black bags of quail eggs, red bagged snacks, and yellow packaged chicken feet into the shopping cart."}, {"start_frame": 1933, "end_frame": 1973, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot has successfully restocked multiple items including white bagged snacks, black bags of quail eggs, red bagged snacks, and yellow packaged chicken feet into the shopping cart by repeatedly picking them from the shelf and placing them in the cart while adjusting its posture."}, {"start_frame": 1973, "end_frame": 2099, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot has successfully restocked multiple types of bagged snacks, quail eggs, and packaged chicken feet by picking them from the shelf and placing them into the shopping cart, while adjusting its posture throughout the process."}], "detailed_task_instruction": ["Restock the shopping cart by retrieving items from the shelf in three sequential batches. First, pick up the white bagged snack and the black bag of quail eggs, bending your waist as you reach lower, then place both items into the cart. Next, retrieve the red bagged snack and the yellow packaged chicken feet, bending over to access them, and place these into the cart as well. Finally, pick up another white bagged snack and a black bag of eggs, bending over again, and place them into the shopping cart. Throughout the process, adjust your robot posture and rotate your waist as needed to maintain balance and reach the items efficiently."]}
{"task_id": "task_3641", "episode_index": 2, "video_path": "task_3641/videos/chunk-000/{video_key}/episode_000002.mp4", "tasks": ["Restocking the bagged snack."], "length": 2409, "action_config": [{"start_frame": 0, "end_frame": 128, "action_text": "pick up the white bagged snack from the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 128, "end_frame": 395, "action_text": "pick up the green bagged snack from the shelf", "skill": "Pick", "language_memory": "The robot has picked up the white bagged snack from the shelf."}, {"start_frame": 395, "end_frame": 485, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up the white and green bagged snacks from the shelf."}, {"start_frame": 485, "end_frame": 538, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot has picked up the white and green bagged snacks from the shelf and rotated its waist."}, {"start_frame": 538, "end_frame": 654, "action_text": "place the green bagged snacks into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up white and green bagged snacks from the shelf and adjusted its waist rotation and posture."}, {"start_frame": 654, "end_frame": 787, "action_text": "place the white bag of snacks into the shopping cart", "skill": "Place", "language_memory": "The robot picked up white and green bagged snacks from the shelf, adjusted its posture, and placed the green bagged snacks into the shopping cart."}, {"start_frame": 787, "end_frame": 824, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot picked up white and green bagged snacks from the shelf, adjusted its posture, and placed both items into the shopping cart."}, {"start_frame": 824, "end_frame": 1037, "action_text": "pick up the white bagged snack from the shelf", "skill": "Pick", "language_memory": "The robot picked up white and green bagged snacks from the shelf, adjusted its posture, and placed both items into the shopping cart."}, {"start_frame": 1037, "end_frame": 1162, "action_text": "pick up the yellow packaged chicken feet from the shelf", "skill": "Pick", "language_memory": "The robot retrieved white and green bagged snacks from the shelf, adjusted its posture, and placed the green and white snacks into the shopping cart."}, {"start_frame": 1162, "end_frame": 1233, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up white bagged snacks and yellow packaged chicken feet from the shelf, adjusted its posture, and placed the green and white bagged snacks into the shopping cart."}, {"start_frame": 1233, "end_frame": 1276, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot retrieved white bagged snacks, green bagged snacks, and yellow packaged chicken feet from the shelf, adjusted its posture and waist orientation, and placed the green and white bagged snacks into the shopping cart."}, {"start_frame": 1276, "end_frame": 1373, "action_text": "place the yellow bagged chicken feet into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up and placed white bagged snacks and green bagged snacks into the shopping cart, and has also picked up a yellow packaged chicken feet from the shelf."}, {"start_frame": 1373, "end_frame": 1482, "action_text": "place the green bagged snacks into the shopping cart", "skill": "Place", "language_memory": "The robot has successfully restocked the shopping cart by picking up and placing white bagged snacks, green bagged snacks, and yellow packaged chicken feet from the shelf."}, {"start_frame": 1482, "end_frame": 1550, "action_text": "pick up the object", "skill": "Pick", "language_memory": "The robot has restocked the shopping cart with multiple white bagged snacks, green bagged snacks, and yellow packaged chicken feet by picking them from the shelf and placing them into the cart."}, {"start_frame": 1550, "end_frame": 1760, "action_text": "pick up the red bagged snack from the shelf", "skill": "Pick", "language_memory": "The robot has restocked multiple bagged snacks and packaged chicken feet into the shopping cart, including white, green, and yellow items, while adjusting its posture and rotating its waist during the process."}, {"start_frame": 1760, "end_frame": 1915, "action_text": "pick up the green bagged snack from the shelf", "skill": "Pick", "language_memory": "The robot has restocked the shopping cart with multiple white, green, and yellow bagged snacks, along with yellow packaged chicken feet, by picking them from the shelf and placing them into the cart while adjusting its posture and rotating its waist."}, {"start_frame": 1915, "end_frame": 1988, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has restocked multiple bagged snacks including white, green, and yellow items into the shopping cart, performed necessary posture adjustments and waist rotations, and is currently in the process of picking up an object."}, {"start_frame": 1988, "end_frame": 2027, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot has successfully restocked multiple bagged snacks, including white, green, and yellow items, into the shopping cart while adjusting its posture and rotating its waist throughout the process."}, {"start_frame": 2027, "end_frame": 2116, "action_text": "place the green bagged snacks into the shopping cart", "skill": "Place", "language_memory": "The robot has successfully restocked multiple bagged snacks and packaged chicken feet into the shopping cart, including white, green, and yellow items, while performing necessary posture adjustments and waist rotations to reach the shelf."}, {"start_frame": 2116, "end_frame": 2230, "action_text": "place the red bagged snacks into the shopping cart", "skill": "Place", "language_memory": "The robot has successfully restocked multiple bagged snacks, including white, green, and yellow items, by picking them from the shelf and placing them into the shopping cart."}, {"start_frame": 2230, "end_frame": 2267, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot has successfully restocked multiple bagged snacks, including white, green, and red varieties, as well as yellow packaged chicken feet, by picking them from the shelf and placing them into the shopping cart."}, {"start_frame": 2267, "end_frame": 2333, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has successfully restocked multiple bagged snacks, including white, green, and red varieties, as well as yellow packaged chicken feet, by picking them from the shelf and placing them into the shopping cart, while adjusting its posture and rotating its waist throughout the process."}, {"start_frame": 2333, "end_frame": 2408, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot has successfully restocked multiple types of bagged snacks, including white, green, and red varieties, as well as yellow packaged chicken feet, by picking them from the shelf and placing them into the shopping cart, while performing necessary posture adjustments and waist rotations throughout the process."}], "detailed_task_instruction": ["Restock the shopping cart by retrieving and placing multiple bagged snacks. First, pick up the white bagged snack and the green bagged snack from the shelf, then rotate your waist and adjust your posture before placing the green bag into the cart. Next, place the white bag into the cart, followed by adjusting your posture again. Retrieve another white bagged snack and the yellow packaged chicken feet from the shelf, rotate your waist, bend over, and place the yellow chicken feet into the cart. Place the green bagged snacks into the cart, then pick up an unspecified object. Finally, retrieve the red bagged snack and another green bagged snack from the shelf, rotate your waist, bend over, and place both the green and red bagged snacks into the shopping cart."]}
{"task_id": "task_3641", "episode_index": 3, "video_path": "task_3641/videos/chunk-000/{video_key}/episode_000003.mp4", "tasks": ["Restocking the bagged snack."], "length": 2217, "action_config": [{"start_frame": 0, "end_frame": 133, "action_text": "pick up the white bagged snack from the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 133, "end_frame": 243, "action_text": "pick up the red bag of quail eggs from the shelf", "skill": "Pick", "language_memory": "The robot has picked up the white bagged snack from the shelf."}, {"start_frame": 243, "end_frame": 375, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot has picked up the white bagged snack and the red bag of quail eggs from the shelf."}, {"start_frame": 375, "end_frame": 480, "action_text": "place the white bag of snacks into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up a white bagged snack and a red bag of quail eggs from the shelf and adjusted its posture."}, {"start_frame": 480, "end_frame": 568, "action_text": "place the red bag of quail eggs into the shopping cart", "skill": "Place", "language_memory": "The robot picked up a white bagged snack and a red bag of quail eggs from the shelf, adjusted its posture, and placed the white bag of snacks into the shopping cart."}, {"start_frame": 568, "end_frame": 615, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot has picked up a white bagged snack and a red bag of quail eggs from the shelf, adjusted its posture, and placed both items into the shopping cart."}, {"start_frame": 615, "end_frame": 834, "action_text": "pick up the yellow bagged snack from the shelf", "skill": "Pick", "language_memory": "The robot has picked up a white bagged snack and a red bag of quail eggs from the shelf and placed both items into the shopping cart."}, {"start_frame": 834, "end_frame": 1068, "action_text": "pick up the yellow bagged snack from the shelf", "skill": "Pick", "language_memory": "The robot has picked up and placed the white bagged snack and the red bag of quail eggs into the shopping cart, and is currently holding the yellow bagged snack."}, {"start_frame": 1068, "end_frame": 1132, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up white and yellow bagged snacks and a red bag of quail eggs from the shelf and placed all of them into the shopping cart."}, {"start_frame": 1132, "end_frame": 1187, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot has picked up white and red bagged snacks from the shelf and placed them into the shopping cart, while also adjusting its posture and rotating its waist."}, {"start_frame": 1187, "end_frame": 1271, "action_text": "place the yellow bagged snacks into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up white and red bagged snacks from the shelf and placed them into the shopping cart, while also adjusting its posture and rotating its waist."}, {"start_frame": 1271, "end_frame": 1390, "action_text": "place the yellow snack into the shopping cart", "skill": "Place", "language_memory": "The robot has successfully picked up white, red, and yellow bagged snacks from the shelf and placed all of them into the shopping cart."}, {"start_frame": 1390, "end_frame": 1436, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot has successfully picked up white, red, and yellow bagged snacks from the shelf and placed all of them into the shopping cart."}, {"start_frame": 1436, "end_frame": 1610, "action_text": "pick up the white bagged snack from the shelf", "skill": "Pick", "language_memory": "The robot has successfully picked up white, red, and yellow bagged snacks from the shelf and placed all of them into the shopping cart."}, {"start_frame": 1610, "end_frame": 1743, "action_text": "pick up the red bag of quail eggs from the shelf", "skill": "Pick", "language_memory": "The robot has successfully restocked the shopping cart with white bagged snacks, red quail eggs, and yellow bagged snacks, and is currently in the process of picking up another white bagged snack from the shelf."}, {"start_frame": 1743, "end_frame": 1803, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has successfully restocked the shopping cart with multiple white bagged snacks, red bags of quail eggs, and yellow bagged snacks by picking them from the shelf and placing them into the cart."}, {"start_frame": 1803, "end_frame": 1841, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot has successfully restocked multiple white bagged snacks, red bags of quail eggs, and yellow bagged snacks into the shopping cart."}, {"start_frame": 1841, "end_frame": 1921, "action_text": "place the red bag of quail eggs into the shopping cart", "skill": "Place", "language_memory": "The robot has successfully restocked multiple white bagged snacks, red bags of quail eggs, and yellow bagged snacks into the shopping cart."}, {"start_frame": 1921, "end_frame": 2034, "action_text": "place the white bag of snacks into the shopping cart", "skill": "Place", "language_memory": "The robot has successfully restocked multiple white bagged snacks, red bags of quail eggs, and yellow bagged snacks into the shopping cart."}, {"start_frame": 2034, "end_frame": 2075, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot has successfully restocked multiple white bagged snacks, red bags of quail eggs, and yellow bagged snacks into the shopping cart."}, {"start_frame": 2075, "end_frame": 2152, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has successfully restocked multiple white bagged snacks, red bags of quail eggs, and yellow bagged snacks into the shopping cart."}, {"start_frame": 2152, "end_frame": 2216, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot has successfully restocked multiple white bagged snacks, red bags of quail eggs, and yellow bagged snacks into the shopping cart."}], "detailed_task_instruction": ["Restock the shopping cart by retrieving items from the shelf in a specific sequence. First, pick up the white bagged snack and the red bag of quail eggs, then adjust your posture to place both items into the cart. Next, retrieve the yellow bagged snack, adjust your waist and bend over to position it correctly, and place it into the cart. Finally, repeat the initial sequence by picking up another white bagged snack and the red bag of quail eggs, adjusting your posture, and placing them into the shopping cart. Ensure all items are securely stored in the cart after completing the restocking process."]}
{"task_id": "task_3641", "episode_index": 4, "video_path": "task_3641/videos/chunk-000/{video_key}/episode_000004.mp4", "tasks": ["Restocking the bagged snack."], "length": 2230, "action_config": [{"start_frame": 24, "end_frame": 138, "action_text": "pick up the green bag of quail eggs from the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 138, "end_frame": 251, "action_text": "pick up the white bagged snack from the shelf", "skill": "Pick", "language_memory": "The robot has picked up the green bag of quail eggs from the shelf."}, {"start_frame": 251, "end_frame": 318, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up the green bag of quail eggs and the white bagged snack from the shelf."}, {"start_frame": 318, "end_frame": 370, "action_text": "as the height decreases, the waist bends downward", "skill": "AdjustPosture", "language_memory": "The robot has picked up the green bag of quail eggs and the white bagged snack from the shelf and rotated its waist."}, {"start_frame": 370, "end_frame": 487, "action_text": "place the bagged green quail eggs into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up the green bag of quail eggs and the white bagged snack from the shelf, rotated its waist, and bent downward as height decreased."}, {"start_frame": 487, "end_frame": 635, "action_text": "place the white bagged snacks into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the green bag of quail eggs and the white bagged snack from the shelf, adjusted its waist posture, and placed the green quail eggs into the shopping cart."}, {"start_frame": 635, "end_frame": 677, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot picked up the green bag of quail eggs and the white bagged snack from the shelf, adjusted its waist posture, and placed both items into the shopping cart."}, {"start_frame": 677, "end_frame": 755, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the green bag of quail eggs and the white bagged snack from the shelf, adjusted its posture, and placed both items into the shopping cart."}, {"start_frame": 755, "end_frame": 886, "action_text": "pick up the yellow packaged chicken feet from the shelf", "skill": "Pick", "language_memory": "The robot picked up the green bag of quail eggs and the white bagged snack from the shelf and placed both items into the shopping cart."}, {"start_frame": 886, "end_frame": 1005, "action_text": "pick up the red bagged snack from the shelf", "skill": "Pick", "language_memory": "The robot retrieved a green bag of quail eggs and a white bagged snack from the shelf, placed both items into the shopping cart, and is currently picking up a yellow packaged chicken feet from the shelf."}, {"start_frame": 1005, "end_frame": 1124, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot has picked up green quail eggs, white bagged snacks, yellow packaged chicken feet, and red bagged snacks from the shelf, placing the quail eggs and white bagged snacks into the shopping cart while adjusting its posture and rotating its waist."}, {"start_frame": 1124, "end_frame": 1230, "action_text": "place the yellow packaged chicken feet into the shopping cart", "skill": "Place", "language_memory": "The robot has successfully retrieved green quail eggs, white bagged snacks, yellow packaged chicken feet, and red bagged snacks from the shelf and placed all of them into the shopping cart."}, {"start_frame": 1230, "end_frame": 1358, "action_text": "place the red packaged snacks into the shopping cart", "skill": "Place", "language_memory": "The robot has successfully retrieved green quail eggs, white bagged snacks, yellow packaged chicken feet, and red bagged snacks from the shelf and placed all of them into the shopping cart."}, {"start_frame": 1358, "end_frame": 1411, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot has successfully retrieved green quail eggs, white bagged snacks, yellow packaged chicken feet, and red bagged snacks from the shelf and placed all of them into the shopping cart."}, {"start_frame": 1411, "end_frame": 1629, "action_text": "pick up the white bagged snack from the shelf", "skill": "Pick", "language_memory": "The robot successfully retrieved green quail eggs, white bagged snacks, yellow packaged chicken feet, and red bagged snacks from the shelf and placed all items into the shopping cart."}, {"start_frame": 1629, "end_frame": 1790, "action_text": "pick up the yellow packaged chicken feet from the shelf", "skill": "Pick", "language_memory": "The robot has successfully restocked the shopping cart with green quail eggs, white bagged snacks, yellow packaged chicken feet, and red bagged snacks."}, {"start_frame": 1790, "end_frame": 1907, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot has successfully restocked the shopping cart with green quail eggs, white bagged snacks, yellow packaged chicken feet, and red bagged snacks by picking them from the shelf and placing them into the cart."}, {"start_frame": 1907, "end_frame": 1982, "action_text": "place the yellow bagged chicken feet into the shopping cart", "skill": "Place", "language_memory": "The robot has successfully restocked the shopping cart with green quail eggs, white bagged snacks, yellow packaged chicken feet, and red bagged snacks by picking them from the shelf and placing them into the cart."}, {"start_frame": 1982, "end_frame": 2059, "action_text": "place the white bagged snacks into the shopping cart", "skill": "Place", "language_memory": "The robot has successfully restocked the shopping cart with green quail eggs, white bagged snacks, yellow packaged chicken feet, and red bagged snacks by picking them from the shelf and placing them into the cart."}, {"start_frame": 2059, "end_frame": 2107, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot has successfully restocked the shopping cart with multiple instances of green quail eggs, white bagged snacks, yellow packaged chicken feet, and red bagged snacks by picking them from the shelf and placing them into the cart."}, {"start_frame": 2107, "end_frame": 2175, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has successfully restocked the shopping cart with multiple instances of green quail eggs, white bagged snacks, yellow packaged chicken feet, and red bagged snacks by picking them from the shelf and placing them into the cart."}, {"start_frame": 2175, "end_frame": 2229, "action_text": "place the reset position", "skill": "Place", "language_memory": "The robot has successfully restocked the shopping cart with multiple instances of green quail eggs, white bagged snacks, yellow packaged chicken feet, and red bagged snacks by picking them from the shelf and placing them into the cart."}], "detailed_task_instruction": ["Restock the shopping cart by first retrieving the green bag of quail eggs and the white bagged snack from the shelf, bending down to place them inside, and adjusting your posture. Next, pick up the yellow packaged chicken feet and the red bagged snack, bend over to load them into the cart, and readjust. Finally, retrieve another white bagged snack and a yellow packaged chicken feet from the shelf, bend down to place these items in the cart, adjust your posture, rotate your waist, and return to the reset position."]}
{"task_id": "task_3641", "episode_index": 5, "video_path": "task_3641/videos/chunk-000/{video_key}/episode_000005.mp4", "tasks": ["Restocking the bagged snack."], "length": 2091, "action_config": [{"start_frame": 0, "end_frame": 193, "action_text": "pick up the green bag of quail eggs from the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 193, "end_frame": 328, "action_text": "pick up the white bagged snack from the shelf", "skill": "Pick", "language_memory": "The robot has picked up the green bag of quail eggs from the shelf."}, {"start_frame": 328, "end_frame": 442, "action_text": "as the height decreases, the waist bends downward", "skill": "AdjustPosture", "language_memory": "The robot has picked up the green bag of quail eggs and the white bagged snack from the shelf."}, {"start_frame": 442, "end_frame": 531, "action_text": "place the bagged green quail eggs into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up the green bag of quail eggs and the white bagged snack from the shelf and adjusted its waist posture downward."}, {"start_frame": 531, "end_frame": 624, "action_text": "place the white bagged snacks into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the green bag of quail eggs and the white bagged snack from the shelf, adjusted its waist height, and placed the green quail eggs into the shopping cart."}, {"start_frame": 624, "end_frame": 667, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot picked up the green bag of quail eggs and the white bagged snack from the shelf, adjusted its waist height, and placed both items into the shopping cart."}, {"start_frame": 667, "end_frame": 849, "action_text": "pick up the white bagged snack from the shelf", "skill": "Pick", "language_memory": "The robot picked up the green bag of quail eggs and the white bagged snack from the shelf, adjusted its posture, and placed both items into the shopping cart."}, {"start_frame": 849, "end_frame": 957, "action_text": "pick up the black packaged eggs from the shelf", "skill": "Pick", "language_memory": "The robot picked up green quail eggs and white bagged snacks from the shelf, adjusted its posture, and placed all items into the shopping cart."}, {"start_frame": 957, "end_frame": 1082, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot has picked up green quail eggs, white bagged snacks, and black packaged eggs from the shelf and placed the green quail eggs and white bagged snacks into the shopping cart while adjusting its posture."}, {"start_frame": 1082, "end_frame": 1160, "action_text": "place the black bag of eggs into the shopping cart", "skill": "Place", "language_memory": "The robot has successfully retrieved multiple bagged snacks and packaged eggs from the shelf, adjusted its posture, and placed all items into the shopping cart."}, {"start_frame": 1160, "end_frame": 1258, "action_text": "place the white bagged snacks into the shopping cart", "skill": "Place", "language_memory": "The robot has successfully retrieved multiple bagged snacks and egg packages from the shelf, adjusted its posture as needed, and placed all items into the shopping cart."}, {"start_frame": 1258, "end_frame": 1296, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot has successfully retrieved multiple items including green quail eggs, white bagged snacks, and black packaged eggs from the shelf and placed them into the shopping cart while adjusting its posture."}, {"start_frame": 1296, "end_frame": 1368, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has successfully retrieved multiple items including green quail eggs, white bagged snacks, and black packaged eggs from the shelf and placed them into the shopping cart, while adjusting its posture throughout the process."}, {"start_frame": 1368, "end_frame": 1513, "action_text": "pick up the white bagged snack from the shelf", "skill": "Pick", "language_memory": "The robot has successfully picked up and placed multiple bags of snacks and eggs, including green quail eggs, white bagged snacks, and black packaged eggs, into the shopping cart while adjusting its posture and rotating its waist."}, {"start_frame": 1513, "end_frame": 1613, "action_text": "pick up the yellow packaged eggs from the shelf", "skill": "Pick", "language_memory": "The robot has successfully retrieved multiple items including green quail eggs, white bagged snacks, and black packaged eggs from the shelf and placed them into the shopping cart, while adjusting its posture and rotating its waist throughout the process."}, {"start_frame": 1613, "end_frame": 1728, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot has successfully picked up and placed multiple bags of snacks and eggs, including green quail eggs, white bagged snacks, black packaged eggs, and yellow packaged eggs, into the shopping cart while adjusting its posture throughout the process."}, {"start_frame": 1728, "end_frame": 1794, "action_text": "place the yellow bag of eggs into the shopping cart", "skill": "Place", "language_memory": "The robot has successfully picked up and placed multiple bags of snacks and packaged eggs, including green quail eggs, white bagged snacks, black packaged eggs, and yellow packaged eggs, into the shopping cart while adjusting its posture throughout the process."}, {"start_frame": 1794, "end_frame": 1896, "action_text": "place the white bagged snacks into the shopping cart", "skill": "Place", "language_memory": "The robot has successfully retrieved multiple bags of snacks and various packaged eggs from the shelf and placed them into the shopping cart while adjusting its posture throughout the process."}, {"start_frame": 1896, "end_frame": 1935, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot has successfully restocked the shopping cart with multiple bags of quail eggs and white bagged snacks by repeatedly picking them from the shelf and placing them into the cart while adjusting its posture."}, {"start_frame": 1935, "end_frame": 2090, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot has successfully restocked the shopping cart with multiple bags of quail eggs and white bagged snacks by repeatedly picking them from the shelf and placing them into the cart while adjusting its posture."}], "detailed_task_instruction": ["Restock the shopping cart by sequentially retrieving items from the shelf and placing them inside. First, pick up the green bag of quail eggs and the white bagged snack, then place both into the cart. Next, retrieve another white bagged snack and a black packaged egg, placing each into the cart. Finally, pick up a third white bagged snack and a yellow packaged egg, placing both into the cart. Throughout the process, adjust your posture, bend your waist, and rotate as needed to reach items at varying heights and ensure smooth transitions between picking and placing actions."]}
{"task_id": "task_3641", "episode_index": 6, "video_path": "task_3641/videos/chunk-000/{video_key}/episode_000006.mp4", "tasks": ["Restocking the bagged snack."], "length": 1545, "action_config": [{"start_frame": 25, "end_frame": 176, "action_text": "pick up the black bagged eggs from the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 176, "end_frame": 281, "action_text": "pick up the white bagged snack from the shelf", "skill": "Pick", "language_memory": "The robot has picked up the black bagged eggs from the shelf."}, {"start_frame": 281, "end_frame": 400, "action_text": "as the height decreases, the waist bends downward", "skill": "AdjustPosture", "language_memory": "The robot has picked up the black bagged eggs and the white bagged snack from the shelf."}, {"start_frame": 400, "end_frame": 531, "action_text": "place the black bag of eggs into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up the black bagged eggs and the white bagged snack from the shelf and adjusted its waist posture downward as height decreased."}, {"start_frame": 531, "end_frame": 625, "action_text": "place the white bagged snacks into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the black bagged eggs and the white bagged snack from the shelf, adjusted its waist height, and placed the black bag of eggs into the shopping cart."}, {"start_frame": 625, "end_frame": 683, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot picked up black bagged eggs and white bagged snacks from the shelf, adjusted its waist height, and placed both items into the shopping cart."}, {"start_frame": 683, "end_frame": 927, "action_text": "pick up the red packaged snack from the shelf", "skill": "Pick", "language_memory": "The robot picked up black bagged eggs and white bagged snacks from the shelf, adjusted its posture, and placed both items into the shopping cart."}, {"start_frame": 927, "end_frame": 1041, "action_text": "pick up the yellow packaged chicken feet from the shelf", "skill": "Pick", "language_memory": "The robot picked up black bagged eggs, white bagged snacks, and a red packaged snack from the shelf, placed the eggs and white snacks into the shopping cart, and adjusted its posture."}, {"start_frame": 1041, "end_frame": 1164, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot picked up black bagged eggs, white bagged snacks, red packaged snacks, and yellow packaged chicken feet from the shelf, adjusted its posture, and placed the eggs and white bagged snacks into the shopping cart."}, {"start_frame": 1164, "end_frame": 1251, "action_text": "place the yellow packaged chicken feet into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up black bagged eggs, white bagged snacks, red packaged snacks, and yellow packaged chicken feet from the shelf and placed all of them into the shopping cart, while adjusting its posture and bending down as needed."}, {"start_frame": 1251, "end_frame": 1354, "action_text": "place the red bagged snacks into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up black bagged eggs, white bagged snacks, red packaged snacks, and yellow packaged chicken feet from the shelf, adjusted its posture, and placed the eggs, white bagged snacks, and yellow packaged chicken feet into the shopping cart."}, {"start_frame": 1354, "end_frame": 1407, "action_text": "pick up the object", "skill": "Pick", "language_memory": "The robot has successfully retrieved black bagged eggs, white bagged snacks, red packaged snacks, and yellow packaged chicken feet from the shelf and placed all of them into the shopping cart while adjusting its posture as needed."}, {"start_frame": 1407, "end_frame": 1544, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot has successfully retrieved black bagged eggs, white bagged snacks, red packaged snacks, and yellow packaged chicken feet from the shelf and placed all of them into the shopping cart, while adjusting its posture throughout the process."}], "detailed_task_instruction": ["Restock the shopping cart by first picking up the black bagged eggs and the white bagged snack from the shelf, bending your waist as you reach lower items, and placing both into the cart. Next, adjust your posture, then pick up the red packaged snack and the yellow packaged chicken feet from the shelf, bending over to retrieve them, and place these items into the cart as well. Finally, pick up the remaining object and adjust your posture to complete the restocking process."]}
{"task_id": "task_3641", "episode_index": 7, "video_path": "task_3641/videos/chunk-000/{video_key}/episode_000007.mp4", "tasks": ["Restocking the bagged snack."], "length": 1988, "action_config": [{"start_frame": 21, "end_frame": 125, "action_text": "pick up the white bagged snack from the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 125, "end_frame": 237, "action_text": "pick up the green bag of quail eggs from the shelf", "skill": "Pick", "language_memory": "The robot has picked up the white bagged snack from the shelf."}, {"start_frame": 237, "end_frame": 356, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot has picked up the white bagged snack and the green bag of quail eggs from the shelf."}, {"start_frame": 356, "end_frame": 434, "action_text": "place the bagged green quail eggs into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up a white bagged snack and a green bag of quail eggs from the shelf and adjusted its posture."}, {"start_frame": 434, "end_frame": 532, "action_text": "place the white bag of snacks into the shopping cart", "skill": "Place", "language_memory": "The robot picked up a white bagged snack and a green bag of quail eggs from the shelf, adjusted its posture, and placed the green quail eggs into the shopping cart."}, {"start_frame": 532, "end_frame": 575, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot picked up a white bagged snack and a green bag of quail eggs from the shelf, adjusted its posture, and placed both items into the shopping cart."}, {"start_frame": 575, "end_frame": 760, "action_text": "pick up the red bagged snack from the shelf", "skill": "Pick", "language_memory": "The robot picked up a white bagged snack and a green bag of quail eggs from the shelf, adjusted its posture, and placed both items into the shopping cart."}, {"start_frame": 760, "end_frame": 913, "action_text": "pick up the yellow packaged chicken feet from the shelf", "skill": "Pick", "language_memory": "The robot has picked up white, green, and red bagged snacks from the shelf, adjusted its posture, and placed the green quail eggs and white bagged snacks into the shopping cart."}, {"start_frame": 913, "end_frame": 1029, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot has picked up white bagged snacks, green quail eggs, red bagged snacks, and yellow packaged chicken feet from the shelf, adjusted its posture twice, and placed the green quail eggs and white bagged snacks into the shopping cart."}, {"start_frame": 1029, "end_frame": 1105, "action_text": "place the yellow packaged chicken feet into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up and placed white bagged snacks, green quail eggs, red bagged snacks, and yellow packaged chicken feet into the shopping cart, while adjusting its posture and bending over during the process."}, {"start_frame": 1105, "end_frame": 1200, "action_text": "place the red bagged snacks into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up and placed the white bagged snack, green bag of quail eggs, red bagged snack, and yellow packaged chicken feet into the shopping cart, while adjusting its posture and bending over during the process."}, {"start_frame": 1200, "end_frame": 1246, "action_text": "pick up the object", "skill": "Pick", "language_memory": "The robot has successfully retrieved and placed the white bagged snack, green bag of quail eggs, red bagged snack, and yellow packaged chicken feet into the shopping cart."}, {"start_frame": 1246, "end_frame": 1428, "action_text": "pick up the red bagged snack from the shelf", "skill": "Pick", "language_memory": "The robot has successfully restocked the shopping cart by picking up and placing the white bagged snack, green bag of quail eggs, red bagged snack, and yellow packaged chicken feet from the shelf, while adjusting its posture as needed."}, {"start_frame": 1428, "end_frame": 1527, "action_text": "pick up the yellow packaged chicken feet from the shelf", "skill": "Pick", "language_memory": "The robot has successfully restocked the shopping cart with white bagged snacks, green quail eggs, red bagged snacks, and yellow packaged chicken feet by picking them from the shelf and placing them into the cart, while adjusting its posture and bending over as needed."}, {"start_frame": 1527, "end_frame": 1597, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has successfully restocked the shopping cart by picking up and placing multiple items, including white bagged snacks, green bagged quail eggs, red bagged snacks, and yellow packaged chicken feet, while adjusting its posture and bending over as needed."}, {"start_frame": 1597, "end_frame": 1640, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot has successfully restocked the shopping cart by picking up and placing multiple items, including white bagged snacks, green quail eggs, red bagged snacks, and yellow packaged chicken feet, while adjusting its posture and rotating its waist throughout the process."}, {"start_frame": 1640, "end_frame": 1711, "action_text": "place the yellow packaged chicken feet into the shopping cart", "skill": "Place", "language_memory": "The robot has successfully restocked the shopping cart by picking up and placing multiple items, including white bagged snacks, green bagged quail eggs, red bagged snacks, and yellow packaged chicken feet, while adjusting its posture and rotating its waist throughout the process."}, {"start_frame": 1711, "end_frame": 1800, "action_text": "place the red bagged snacks into the shopping cart", "skill": "Place", "language_memory": "The robot has successfully restocked the shopping cart with multiple items, including white bagged snacks, green quail eggs, red bagged snacks, and yellow packaged chicken feet, while performing necessary posture adjustments and object rotations."}, {"start_frame": 1800, "end_frame": 1840, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot has successfully restocked the shopping cart by picking up and placing multiple items, including white bagged snacks, green bagged quail eggs, red bagged snacks, and yellow packaged chicken feet, while adjusting its posture and orientation throughout the process."}, {"start_frame": 1840, "end_frame": 1904, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has successfully restocked the shopping cart by picking up and placing multiple items, including white bagged snacks, green bagged quail eggs, red bagged snacks, and yellow packaged chicken feet, while adjusting its posture and rotating its waist as needed."}, {"start_frame": 1904, "end_frame": 1987, "action_text": "place the reset position", "skill": "Place", "language_memory": "The robot has successfully restocked the shopping cart by picking up and placing multiple items, including white bagged snacks, green bagged quail eggs, red bagged snacks, and yellow packaged chicken feet, while adjusting its posture and rotating its waist throughout the process."}], "detailed_task_instruction": ["Restock the shopping cart by first picking up the white bagged snack and the green bag of quail eggs from the shelf, adjusting your posture, and placing both items into the cart. Next, retrieve the red bagged snack and the yellow packaged chicken feet from the shelf, bend over, and place these items into the cart. Finally, adjust your posture, rotate your waist, and return to the reset position to complete the restocking process."]}
{"task_id": "task_3641", "episode_index": 8, "video_path": "task_3641/videos/chunk-000/{video_key}/episode_000008.mp4", "tasks": ["Restocking the bagged snack."], "length": 2040, "action_config": [{"start_frame": 22, "end_frame": 140, "action_text": "pick up the red bag of quail eggs from the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 140, "end_frame": 256, "action_text": "pick up the white bagged snack from the shelf", "skill": "Pick", "language_memory": "The robot has picked up the red bag of quail eggs from the shelf."}, {"start_frame": 256, "end_frame": 325, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up the red bag of quail eggs and the white bagged snack from the shelf."}, {"start_frame": 325, "end_frame": 371, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot has picked up the red bag of quail eggs and the white bagged snack from the shelf and rotated its waist."}, {"start_frame": 371, "end_frame": 447, "action_text": "place the red bag of quail eggs into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up the red bag of quail eggs and the white bagged snack from the shelf, rotated its waist, and adjusted its posture."}, {"start_frame": 447, "end_frame": 535, "action_text": "place the white bag of snacks into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the red bag of quail eggs and the white bagged snack from the shelf, adjusted its posture, and placed the red bag of quail eggs into the shopping cart."}, {"start_frame": 535, "end_frame": 573, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot picked up the red bag of quail eggs and the white bagged snack from the shelf, adjusted its posture, and placed both items into the shopping cart."}, {"start_frame": 573, "end_frame": 780, "action_text": "pick up the white bagged snack from the shelf", "skill": "Pick", "language_memory": "The robot picked up the red bag of quail eggs and the white bagged snack from the shelf and placed both items into the shopping cart."}, {"start_frame": 780, "end_frame": 906, "action_text": "pick up the yellow bagged eggs from the shelf", "skill": "Pick", "language_memory": "The robot picked up a red bag of quail eggs and a white bagged snack from the shelf, adjusted its posture, and placed both items into the shopping cart before picking up another white bagged snack."}, {"start_frame": 906, "end_frame": 1021, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot has picked up and placed the red bag of quail eggs and the first white bagged snack into the shopping cart, and has picked up a second white bagged snack and a yellow bag of eggs from the shelf."}, {"start_frame": 1021, "end_frame": 1084, "action_text": "place the yellow bagged eggs into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up and placed the red bag of quail eggs and the first white bagged snack into the shopping cart, and has also picked up a second white bagged snack and a yellow bag of eggs from the shelf."}, {"start_frame": 1084, "end_frame": 1183, "action_text": "place the white bag of snacks into the shopping cart", "skill": "Place", "language_memory": "The robot has successfully retrieved and placed the red bag of quail eggs, two white bags of snacks, and the yellow bag of eggs into the shopping cart."}, {"start_frame": 1183, "end_frame": 1222, "action_text": "pick up the object", "skill": "Pick", "language_memory": "The robot has successfully retrieved and placed multiple items, including red quail eggs, white snacks, and yellow eggs, into the shopping cart while adjusting its posture and rotating its waist."}, {"start_frame": 1222, "end_frame": 1407, "action_text": "pick up the yellow bagged snack from the shelf", "skill": "Pick", "language_memory": "The robot has successfully retrieved and placed multiple bagged snacks and eggs, including red quail eggs, white snacks, and yellow eggs, into the shopping cart while adjusting its posture and rotating its waist."}, {"start_frame": 1407, "end_frame": 1555, "action_text": "pick up the yellow packaged chicken feet from the shelf", "skill": "Pick", "language_memory": "The robot has successfully retrieved and placed multiple items, including red and white bags of snacks and yellow bags of eggs, into the shopping cart."}, {"start_frame": 1555, "end_frame": 1673, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot has successfully retrieved and placed multiple items, including red quail eggs, white and yellow bagged snacks, yellow bagged eggs, and yellow packaged chicken feet, into the shopping cart while adjusting its posture and rotating its waist as needed."}, {"start_frame": 1673, "end_frame": 1767, "action_text": "place the yellow bagged chicken feet into the shopping cart", "skill": "Place", "language_memory": "The robot has successfully retrieved and placed multiple items, including red quail eggs, white and yellow bagged snacks, yellow bagged eggs, and yellow packaged chicken feet, into the shopping cart while adjusting its posture and rotating its waist as needed."}, {"start_frame": 1767, "end_frame": 1879, "action_text": "place the yellow bagged snack into the shopping cart", "skill": "Place", "language_memory": "The robot has successfully retrieved and placed multiple items, including red and white bagged snacks, yellow bagged eggs, and yellow packaged chicken feet, into the shopping cart."}, {"start_frame": 1879, "end_frame": 1916, "action_text": "pick up the object", "skill": "Pick", "language_memory": "The robot has successfully retrieved multiple items including red quail eggs, white and yellow bagged snacks, yellow bagged eggs, and yellow packaged chicken feet from the shelf and placed them into the shopping cart."}, {"start_frame": 1916, "end_frame": 2039, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot has successfully restocked multiple bagged snacks, including red quail eggs, white snacks, yellow eggs, yellow snacks, and yellow chicken feet, by picking them from the shelf and placing them into the shopping cart."}], "detailed_task_instruction": ["Restock the shopping cart by first picking up the red bag of quail eggs and the white bagged snack from the shelf, then placing both into the cart. Next, retrieve the yellow bagged eggs and the white bag of snacks, placing them into the cart as well. Finally, pick up the yellow bagged snack and the yellow packaged chicken feet from the shelf and place them into the shopping cart. Throughout the process, adjust the robot posture and bend over as needed to reach items and position the cart correctly."]}
{"task_id": "task_3641", "episode_index": 9, "video_path": "task_3641/videos/chunk-000/{video_key}/episode_000009.mp4", "tasks": ["Restocking the bagged snack."], "length": 1629, "action_config": [{"start_frame": 27, "end_frame": 153, "action_text": "pick up the green bag of quail eggs from the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 153, "end_frame": 470, "action_text": "pick up the green bagged snack from the shelf", "skill": "Pick", "language_memory": "The robot has picked up the green bag of quail eggs from the shelf."}, {"start_frame": 470, "end_frame": 576, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot has picked up the green bag of quail eggs and the green bagged snack from the shelf."}, {"start_frame": 576, "end_frame": 647, "action_text": "place the bagged green quail eggs into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up the green bag of quail eggs and the green bagged snack from the shelf and adjusted its posture."}, {"start_frame": 647, "end_frame": 746, "action_text": "place the green bagged snacks into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the green bag of quail eggs and the green bagged snack from the shelf, adjusted its posture, and placed the green quail eggs into the shopping cart."}, {"start_frame": 746, "end_frame": 786, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot picked up the green bag of quail eggs and the green bagged snack from the shelf, adjusted its posture, and placed both items into the shopping cart."}, {"start_frame": 786, "end_frame": 981, "action_text": "pick up the yellow packaged chicken feet from the shelf", "skill": "Pick", "language_memory": "The robot picked up green bags of quail eggs and snacks from the shelf and placed them into the shopping cart."}, {"start_frame": 981, "end_frame": 1105, "action_text": "pick up the yellow bag of pig snacks from the shelf", "skill": "Pick", "language_memory": "The robot has picked up and placed the green bag of quail eggs and the green bagged snack into the shopping cart, and is currently holding the yellow packaged chicken feet."}, {"start_frame": 1105, "end_frame": 1214, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot has picked up green bags of quail eggs and green bagged snacks, placed them into the shopping cart, and picked up yellow packaged chicken feet and yellow bagged pig snacks from the shelf."}, {"start_frame": 1214, "end_frame": 1302, "action_text": "place the yellow bagged chicken feet into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up green bags of quail eggs and green bagged snacks, placed them into the shopping cart, and picked up yellow packaged chicken feet and yellow bagged pig snacks from the shelf."}, {"start_frame": 1302, "end_frame": 1433, "action_text": "place the yellow bagged snack into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up and placed green bags of quail eggs and pig snacks, as well as yellow bags of chicken feet, into the shopping cart."}, {"start_frame": 1433, "end_frame": 1490, "action_text": "pick up the object", "skill": "Pick", "language_memory": "The robot has successfully picked up and placed green quail eggs, green bagged snacks, yellow chicken feet, and yellow bagged snacks into the shopping cart, with posture adjustments performed in between."}, {"start_frame": 1490, "end_frame": 1628, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot has successfully restocked the shopping cart with green bags of quail eggs, green bagged snacks, yellow packaged chicken feet, and yellow bagged pig snacks."}], "detailed_task_instruction": ["Restock the shopping cart with bagged snacks by first picking up the green bag of quail eggs and the green bagged snack from the shelf, adjusting the robot posture, and placing both items into the cart. Next, pick up the yellow packaged chicken feet and the yellow bag of pig snacks from the shelf, bend over, and place these items into the shopping cart. Finally, pick up the remaining object, adjust the robot posture, and complete the restocking process."]}
{"task_id": "task_3641", "episode_index": 10, "video_path": "task_3641/videos/chunk-000/{video_key}/episode_000010.mp4", "tasks": ["Restocking the bagged snack."], "length": 2253, "action_config": [{"start_frame": 13, "end_frame": 163, "action_text": "pick up the yellow bagged eggs from the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 163, "end_frame": 309, "action_text": "pick up the white bagged snack from the shelf", "skill": "Pick", "language_memory": "The robot has picked up the yellow bagged eggs from the shelf."}, {"start_frame": 309, "end_frame": 443, "action_text": "as the height decreases, the waist bends downward", "skill": "AdjustPosture", "language_memory": "The robot has picked up the yellow bagged eggs and the white bagged snack from the shelf."}, {"start_frame": 443, "end_frame": 522, "action_text": "place the yellow bagged eggs into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up the yellow bagged eggs and the white bagged snack from the shelf and adjusted its waist posture downward as height decreased."}, {"start_frame": 522, "end_frame": 610, "action_text": "place the white bagged snacks into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the yellow bagged eggs and the white bagged snack from the shelf, adjusted its waist height, and placed the yellow bagged eggs into the shopping cart."}, {"start_frame": 610, "end_frame": 670, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot picked up yellow bagged eggs and white bagged snacks from the shelf, adjusted its waist height, and placed both items into the shopping cart."}, {"start_frame": 670, "end_frame": 744, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up yellow bagged eggs and white bagged snacks from the shelf, adjusted its waist posture, and placed both items into the shopping cart."}, {"start_frame": 744, "end_frame": 851, "action_text": "pick up the yellow packaged snack from the shelf", "skill": "Pick", "language_memory": "The robot picked up yellow bagged eggs and white bagged snacks from the shelf, placed them into the shopping cart, and adjusted its posture and waist rotation."}, {"start_frame": 851, "end_frame": 977, "action_text": "pick up the yellow packaged chicken feet from the shelf", "skill": "Pick", "language_memory": "The robot picked up yellow bagged eggs, white bagged snacks, and a yellow packaged snack from the shelf, adjusted its posture and waist rotation, and placed the eggs and white bagged snacks into the shopping cart."}, {"start_frame": 977, "end_frame": 1048, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up yellow bagged eggs, white bagged snacks, yellow packaged snacks, and yellow packaged chicken feet from the shelf, placed the eggs and white bagged snacks into the shopping cart, and adjusted its posture and waist rotation."}, {"start_frame": 1048, "end_frame": 1092, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot successfully retrieved yellow bagged eggs, white bagged snacks, yellow packaged snacks, and yellow packaged chicken feet from the shelf and placed all items into the shopping cart while adjusting its posture and rotating its waist."}, {"start_frame": 1092, "end_frame": 1184, "action_text": "place the yellow packaged chicken feet into the shopping cart", "skill": "Place", "language_memory": "The robot has successfully retrieved yellow bagged eggs, white bagged snacks, yellow packaged snacks, and yellow packaged chicken feet from the shelf and placed all items into the shopping cart, while adjusting its posture and rotating its waist throughout the process."}, {"start_frame": 1184, "end_frame": 1296, "action_text": "place the yellow bagged snacks into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up yellow bagged eggs, white bagged snacks, yellow packaged snacks, and yellow packaged chicken feet from the shelf and placed all of them into the shopping cart."}, {"start_frame": 1296, "end_frame": 1352, "action_text": "pick up the object", "skill": "Pick", "language_memory": "The robot has successfully retrieved yellow bagged eggs, white bagged snacks, yellow packaged snacks, and yellow packaged chicken feet from the shelf and placed all items into the shopping cart."}, {"start_frame": 1352, "end_frame": 1556, "action_text": "pick up the white bagged snack from the shelf", "skill": "Pick", "language_memory": "The robot successfully retrieved yellow bagged eggs, white bagged snacks, yellow packaged snacks, and yellow packaged chicken feet from the shelf and placed all items into the shopping cart while adjusting its posture and rotating its waist."}, {"start_frame": 1556, "end_frame": 1757, "action_text": "pick up the yellow packaged chicken feet from the shelf", "skill": "Pick", "language_memory": "The robot has successfully retrieved multiple items including yellow bagged eggs, white bagged snacks, yellow packaged snacks, and yellow packaged chicken feet from the shelf and placed them into the shopping cart, while adjusting its posture and rotating its waist throughout the process."}, {"start_frame": 1757, "end_frame": 1872, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot has successfully picked up and placed multiple items including yellow bagged eggs, white bagged snacks, yellow packaged snacks, and yellow packaged chicken feet into the shopping cart, while adjusting its posture and rotating its waist throughout the process."}, {"start_frame": 1872, "end_frame": 1950, "action_text": "place the yellow packaged chicken feet into the shopping cart", "skill": "Place", "language_memory": "The robot has successfully picked up and placed multiple items including yellow bagged eggs, white bagged snacks, yellow packaged snacks, and yellow packaged chicken feet into the shopping cart while adjusting its posture and rotating its waist."}, {"start_frame": 1950, "end_frame": 2070, "action_text": "place the white bag of snacks into the shopping cart", "skill": "Place", "language_memory": "The robot has successfully retrieved multiple items including yellow bagged eggs, white bagged snacks, yellow packaged snacks, and yellow packaged chicken feet from the shelf and placed them into the shopping cart while adjusting its posture and rotating its waist as needed."}, {"start_frame": 2070, "end_frame": 2110, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot successfully picked up multiple yellow and white bagged snacks and chicken feet from the shelf, adjusted its posture including bending and rotating the waist, and placed all items into the shopping cart."}, {"start_frame": 2110, "end_frame": 2252, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot has successfully picked up and placed multiple yellow and white bagged snacks and yellow packaged chicken feet into the shopping cart, while adjusting its posture and rotating its waist throughout the process."}], "detailed_task_instruction": ["Restock the shopping cart with various bagged and packaged snacks from the shelves. Begin by picking up the yellow bagged eggs and the white bagged snack, bending your waist as you reach lower, then place both items into the cart. Next, adjust your posture and rotate your waist to access other items. Pick up the yellow packaged snack and the yellow packaged chicken feet, bending over to retrieve them, and place the chicken feet into the cart followed by the yellow bagged snacks. Finally, rotate your waist again, bend over to pick up the white bagged snack and the yellow packaged chicken feet, and place both into the shopping cart. Throughout the process, continuously adjust your robot posture to maintain stability while moving between different shelf heights and locations to complete the restocking task efficiently."]}
{"task_id": "task_3641", "episode_index": 11, "video_path": "task_3641/videos/chunk-000/{video_key}/episode_000011.mp4", "tasks": ["Restocking the bagged snack."], "length": 2246, "action_config": [{"start_frame": 26, "end_frame": 147, "action_text": "pick up the white bagged snack from the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 147, "end_frame": 268, "action_text": "pick up the red bag of quail eggs from the shelf", "skill": "Pick", "language_memory": "The robot has picked up the white bagged snack from the shelf."}, {"start_frame": 268, "end_frame": 402, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot has picked up the white bagged snack and the red bag of quail eggs from the shelf."}, {"start_frame": 402, "end_frame": 489, "action_text": "place the red bag of quail eggs into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up a white bagged snack and a red bag of quail eggs from the shelf and adjusted its posture."}, {"start_frame": 489, "end_frame": 602, "action_text": "place the white bagged snacks into the shopping cart", "skill": "Place", "language_memory": "The robot picked up a white bagged snack and a red bag of quail eggs from the shelf, adjusted its posture, and placed the red bag of quail eggs into the shopping cart."}, {"start_frame": 602, "end_frame": 648, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot picked up a white bagged snack and a red bag of quail eggs from the shelf, adjusted its posture, and placed both items into the shopping cart."}, {"start_frame": 648, "end_frame": 866, "action_text": "pick up the yellow packaged snack from the shelf", "skill": "Pick", "language_memory": "The robot picked up a white bagged snack and a red bag of quail eggs from the shelf, adjusted its posture, and placed both items into the shopping cart."}, {"start_frame": 866, "end_frame": 999, "action_text": "pick up the black packaged eggs from the shelf", "skill": "Pick", "language_memory": "The robot picked up white bagged snacks and a red bag of quail eggs from the shelf, adjusted its posture, and placed both items into the shopping cart before picking up a yellow packaged snack."}, {"start_frame": 999, "end_frame": 1121, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot has picked up white bagged snacks, red quail eggs, yellow packaged snacks, and black packaged eggs from the shelf and placed the red quail eggs and white bagged snacks into the shopping cart."}, {"start_frame": 1121, "end_frame": 1212, "action_text": "place the black bag of eggs into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up and placed white bagged snacks, red quail eggs, yellow packaged snacks, and black packaged eggs into the shopping cart, with posture adjustments performed in between."}, {"start_frame": 1212, "end_frame": 1329, "action_text": "place the yellow bagged snack into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up and placed white bagged snacks, red quail eggs, yellow packaged snacks, and black packaged eggs into the shopping cart, with posture adjustments performed in between."}, {"start_frame": 1329, "end_frame": 1379, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot has successfully picked up and placed the white bagged snack, red bag of quail eggs, yellow packaged snack, and black packaged eggs into the shopping cart, while adjusting its posture and bending over as needed."}, {"start_frame": 1379, "end_frame": 1653, "action_text": "pick up the orange packaged snack from the shelf", "skill": "Pick", "language_memory": "The robot has successfully picked up and placed the white bagged snack, red bag of quail eggs, yellow packaged snack, and black packaged eggs into the shopping cart, while adjusting its posture multiple times during the process."}, {"start_frame": 1653, "end_frame": 1810, "action_text": "pick up the yellow packaged chicken feet from the shelf", "skill": "Pick", "language_memory": "The robot has picked up and placed multiple bagged snacks and packaged eggs into the shopping cart, adjusted its posture several times, and is currently holding an orange packaged snack."}, {"start_frame": 1810, "end_frame": 1956, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot has successfully picked up and placed multiple bagged snacks, quail eggs, packaged eggs, and chicken feet into the shopping cart, with intermittent posture adjustments."}, {"start_frame": 1956, "end_frame": 2026, "action_text": "place the yellow packaged chicken feet into the shopping cart", "skill": "Place", "language_memory": "The robot has successfully picked up and placed multiple bagged snacks, quail eggs, packaged eggs, chicken feet, and other packaged items into the shopping cart, with intermittent posture adjustments and bending motions."}, {"start_frame": 2026, "end_frame": 2099, "action_text": "place the orange bagged snack into the shopping cart", "skill": "Place", "language_memory": "The robot has successfully picked up and placed multiple bagged snacks, packaged eggs, and chicken feet from the shelves into the shopping cart, with intermittent posture adjustments."}, {"start_frame": 2099, "end_frame": 2173, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has successfully picked up and placed multiple bagged snacks, packaged eggs, and other items from the shelves into the shopping cart, while adjusting its posture and bending over as needed."}, {"start_frame": 2173, "end_frame": 2245, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot has successfully restocked the shopping cart by picking up and placing multiple items including white bagged snacks, red quail eggs, yellow packaged snacks, black packaged eggs, orange packaged snacks, and yellow chicken feet from the shelves."}], "detailed_task_instruction": ["Restock the shopping cart by first picking up the white bagged snack and the red bag of quail eggs from the shelf, adjusting your posture, and placing both items into the cart. Next, retrieve the yellow packaged snack and the black packaged eggs, bend over, and place them into the cart after adjusting your posture. Finally, pick up the orange packaged snack and the yellow packaged chicken feet from the shelf, bend over, place the chicken feet and then the orange snack into the cart, rotate your waist, and adjust your posture to complete the restocking process."]}
{"task_id": "task_3641", "episode_index": 12, "video_path": "task_3641/videos/chunk-000/{video_key}/episode_000012.mp4", "tasks": ["Restocking the bagged snack."], "length": 2271, "action_config": [{"start_frame": 25, "end_frame": 137, "action_text": "pick up the green bag of quail eggs from the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 137, "end_frame": 235, "action_text": "pick up the white bagged snack from the shelf", "skill": "Pick", "language_memory": "The robot has picked up the green bag of quail eggs from the shelf."}, {"start_frame": 235, "end_frame": 363, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot has picked up the green bag of quail eggs and the white bagged snack from the shelf."}, {"start_frame": 363, "end_frame": 438, "action_text": "place the bagged green quail eggs into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up the green bag of quail eggs and the white bagged snack from the shelf and adjusted its posture."}, {"start_frame": 438, "end_frame": 533, "action_text": "place the white bag of snacks into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the green bag of quail eggs and the white bagged snack from the shelf, adjusted its posture, and placed the green quail eggs into the shopping cart."}, {"start_frame": 533, "end_frame": 583, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot picked up the green bag of quail eggs and the white bagged snack from the shelf, adjusted its posture, and placed both items into the shopping cart."}, {"start_frame": 583, "end_frame": 659, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up the green bag of quail eggs and the white bagged snack from the shelf and placed both items into the shopping cart."}, {"start_frame": 659, "end_frame": 800, "action_text": "pick up the yellow packaged snack from the shelf", "skill": "Pick", "language_memory": "The robot picked up the green bag of quail eggs and the white bagged snack from the shelf and placed both items into the shopping cart."}, {"start_frame": 800, "end_frame": 921, "action_text": "pick up the yellow packaged eggs from the shelf", "skill": "Pick", "language_memory": "The robot has picked up the green bag of quail eggs, the white bagged snack, and the yellow packaged snack from the shelf, adjusted its posture, and placed the green quail eggs and white bagged snack into the shopping cart."}, {"start_frame": 921, "end_frame": 1026, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot has picked up green quail eggs, white bagged snacks, yellow packaged snacks, and yellow packaged eggs from the shelf and placed the green quail eggs and white bagged snacks into the shopping cart."}, {"start_frame": 1026, "end_frame": 1098, "action_text": "place the yellow bagged eggs into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up and placed green quail eggs, white bagged snacks, yellow packaged snacks, and yellow packaged eggs into the shopping cart, while adjusting its posture and rotating its waist."}, {"start_frame": 1098, "end_frame": 1209, "action_text": "place the yellow bagged snacks into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up and placed green quail eggs, white bagged snacks, yellow packaged snacks, and yellow bagged eggs into the shopping cart, while adjusting its posture and rotating its waist."}, {"start_frame": 1209, "end_frame": 1250, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot has picked up and placed green quail eggs, white snacks, yellow packaged snacks, and yellow bagged eggs into the shopping cart, while adjusting its posture and rotating its waist during the process."}, {"start_frame": 1250, "end_frame": 1340, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has successfully picked up and placed the green quail eggs, white bagged snack, yellow packaged snack, and yellow bagged eggs into the shopping cart, while adjusting its posture and rotating its waist throughout the process."}, {"start_frame": 1340, "end_frame": 1512, "action_text": "pick up the red bagged snack from the shelf", "skill": "Pick", "language_memory": "The robot has successfully picked up and placed the green quail eggs, white bagged snack, yellow packaged snack, and yellow bagged eggs into the shopping cart, while performing necessary posture adjustments and waist rotations."}, {"start_frame": 1512, "end_frame": 1617, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot has picked up and placed green quail eggs, white snacks, yellow packaged snacks, and yellow bagged eggs into the shopping cart, and is currently holding a red bagged snack."}, {"start_frame": 1617, "end_frame": 1768, "action_text": "pick up the orange packaged snack from the shelf", "skill": "Pick", "language_memory": "The robot has successfully picked up and placed green quail eggs, white snacks, yellow packaged snacks, and yellow bagged eggs into the shopping cart, while performing necessary posture adjustments and waist rotations."}, {"start_frame": 1768, "end_frame": 1910, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot has successfully picked up and placed multiple bagged snacks and eggs, including green quail eggs, white snacks, yellow packaged items, and red and orange snacks, into the shopping cart while adjusting its posture and rotating its waist."}, {"start_frame": 1910, "end_frame": 1998, "action_text": "place the orange bagged snack into the shopping cart", "skill": "Place", "language_memory": "The robot has successfully picked up and placed multiple bagged snacks and eggs, including green quail eggs, white snacks, yellow packaged items, and red and orange snacks, into the shopping cart while adjusting its posture and rotating its waist."}, {"start_frame": 1998, "end_frame": 2087, "action_text": "place the red bagged snacks into the shopping cart", "skill": "Place", "language_memory": "The robot has successfully picked up and placed multiple bagged snacks, including green quail eggs, white snacks, yellow packaged items, and orange snacks, into the shopping cart while adjusting its posture and rotating its waist."}, {"start_frame": 2087, "end_frame": 2135, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot has successfully picked up and placed multiple bags of green quail eggs, white snacks, yellow packaged snacks and eggs, red snacks, and orange snacks into the shopping cart, while adjusting its posture and rotating its waist throughout the process."}, {"start_frame": 2135, "end_frame": 2270, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot has successfully picked up and placed multiple bags of green quail eggs, white snacks, yellow packaged snacks and eggs, red snacks, and orange snacks into the shopping cart, while adjusting its posture and rotating its waist throughout the process."}], "detailed_task_instruction": ["Restock the shopping cart with bagged snacks by first picking up the green bag of quail eggs and the white bagged snack from the shelf, then placing both into the cart. Next, retrieve the yellow packaged snack and the yellow packaged eggs, placing them into the cart as well. Finally, pick up the red bagged snack and the orange packaged snack from the shelf and place them into the shopping cart. Throughout the process, adjust the robot posture and rotate the waist as needed to reach each item and position the cart correctly."]}
{"task_id": "task_3641", "episode_index": 13, "video_path": "task_3641/videos/chunk-000/{video_key}/episode_000013.mp4", "tasks": ["Restocking the bagged snack."], "length": 2130, "action_config": [{"start_frame": 22, "end_frame": 139, "action_text": "pick up the white bagged snack from the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 139, "end_frame": 263, "action_text": "pick up the red bag of quail eggs from the shelf", "skill": "Pick", "language_memory": "The robot has picked up the white bagged snack from the shelf."}, {"start_frame": 263, "end_frame": 337, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up the white bagged snack and the red bag of quail eggs from the shelf."}, {"start_frame": 337, "end_frame": 376, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot has picked up a white bagged snack and a red bag of quail eggs from the shelf and rotated its waist."}, {"start_frame": 376, "end_frame": 462, "action_text": "place the red bag of quail eggs into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up a white bagged snack and a red bag of quail eggs from the shelf, rotated its waist, and adjusted its posture."}, {"start_frame": 462, "end_frame": 563, "action_text": "place the white bag of snacks into the shopping cart", "skill": "Place", "language_memory": "The robot picked up a white bagged snack and a red bag of quail eggs from the shelf, adjusted its posture, and placed the red bag of quail eggs into the shopping cart."}, {"start_frame": 563, "end_frame": 615, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot picked up a white bagged snack and a red bag of quail eggs from the shelf, adjusted its posture, and placed both items into the shopping cart."}, {"start_frame": 615, "end_frame": 682, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up a white bagged snack and a red bag of quail eggs from the shelf, adjusted its posture, and placed both items into the shopping cart."}, {"start_frame": 682, "end_frame": 807, "action_text": "pick up the yellow packaged snack from the shelf", "skill": "Pick", "language_memory": "The robot picked up a white bagged snack and a red bag of quail eggs from the shelf and placed both items into the shopping cart."}, {"start_frame": 807, "end_frame": 930, "action_text": "pick up the yellow packaged eggs from the shelf", "skill": "Pick", "language_memory": "The robot has picked up a white bagged snack, a red bag of quail eggs, and a yellow packaged snack from the shelf, placed the red bag and white bag into the shopping cart, and adjusted its posture and waist rotation."}, {"start_frame": 930, "end_frame": 1065, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot retrieved white bagged snacks, red quail eggs, yellow packaged snacks, and yellow packaged eggs from the shelf, adjusted its posture and waist orientation, and placed the red quail eggs and white bagged snacks into the shopping cart."}, {"start_frame": 1065, "end_frame": 1151, "action_text": "place the yellow bagged eggs into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up and placed white bagged snacks, red quail eggs, yellow packaged snacks, and yellow packaged eggs into the shopping cart, while adjusting its posture and rotating its waist."}, {"start_frame": 1151, "end_frame": 1259, "action_text": "place the yellow bagged snack into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up and placed the white bagged snack, red bag of quail eggs, yellow packaged snack, and yellow packaged eggs into the shopping cart, while adjusting its posture and rotating its waist during the process."}, {"start_frame": 1259, "end_frame": 1309, "action_text": "pick up the object", "skill": "Pick", "language_memory": "The robot has successfully picked up and placed multiple bagged snacks and packaged eggs from the shelf into the shopping cart."}, {"start_frame": 1309, "end_frame": 1535, "action_text": "pick up the red bagged snack from the shelf", "skill": "Pick", "language_memory": "The robot successfully picked up and placed multiple bagged snacks and packaged eggs from the shelf into the shopping cart, while adjusting its posture and rotating its waist to facilitate the task."}, {"start_frame": 1535, "end_frame": 1684, "action_text": "pick up the yellow packaged chicken feet from the shelf", "skill": "Pick", "language_memory": "The robot has successfully picked up and placed multiple bagged snacks, quail eggs, and packaged items into the shopping cart, and is currently holding a red bagged snack."}, {"start_frame": 1684, "end_frame": 1801, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot has successfully picked up and placed multiple bagged snacks, quail eggs, packaged eggs, and chicken feet into the shopping cart, while performing necessary posture adjustments and waist rotations to reach the shelf items."}, {"start_frame": 1801, "end_frame": 1880, "action_text": "place the yellow bagged chicken feet into the shopping cart", "skill": "Place", "language_memory": "The robot has successfully picked up and placed multiple items including white and red bagged snacks, yellow packaged snacks, yellow bagged eggs, and yellow packaged chicken feet into the shopping cart, while performing necessary posture adjustments and waist rotations."}, {"start_frame": 1880, "end_frame": 1974, "action_text": "place the red bagged snacks into the shopping cart", "skill": "Place", "language_memory": "The robot has successfully picked up and placed multiple items including white and red bagged snacks, yellow packaged snacks, yellow bagged eggs, and yellow bagged chicken feet into the shopping cart, while performing necessary posture adjustments and waist rotations."}, {"start_frame": 1974, "end_frame": 2017, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot has successfully picked up and placed multiple items, including white and red bagged snacks, yellow packaged eggs, yellow bagged chicken feet, and other objects, into the shopping cart."}, {"start_frame": 2017, "end_frame": 2129, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot has successfully picked up and placed multiple items including white and red bagged snacks, yellow packaged eggs, yellow bagged chicken feet, and other objects into the shopping cart, while adjusting its posture and rotating its waist throughout the process."}], "detailed_task_instruction": ["Restock the shopping cart by first picking up the white bagged snack and the red bag of quail eggs from the shelf, adjusting your posture and rotating your waist to place the red bag into the cart followed by the white bag. Next, retrieve the yellow packaged snack and the yellow packaged eggs, bend over, and place the yellow bagged eggs into the cart before adding the yellow bagged snack. Finally, pick up the red bagged snack and the yellow packaged chicken feet from the shelf, bend over, and place the yellow bagged chicken feet into the cart followed by the red bagged snacks, ensuring proper posture adjustments are made throughout the process."]}
{"task_id": "task_3641", "episode_index": 14, "video_path": "task_3641/videos/chunk-000/{video_key}/episode_000014.mp4", "tasks": ["Restocking the bagged snack."], "length": 2244, "action_config": [{"start_frame": 0, "end_frame": 91, "action_text": "as the height increases, the waist rises upward", "skill": "AdjustPosture", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 91, "end_frame": 264, "action_text": "pick up the green bagged snack from the shelf", "skill": "Pick", "language_memory": "The robot has raised its waist upward as the height increased."}, {"start_frame": 264, "end_frame": 423, "action_text": "pick up the yellow packaged chicken feet from the shelf", "skill": "Pick", "language_memory": "The robot raised its waist as height increased and picked up the green bagged snack from the shelf."}, {"start_frame": 423, "end_frame": 615, "action_text": "as the height decreases, the waist bends downward", "skill": "AdjustPosture", "language_memory": "The robot raised its waist as height increased, picked up a green bagged snack, and picked up yellow packaged chicken feet from the shelf."}, {"start_frame": 615, "end_frame": 684, "action_text": "place the yellow packaged chicken feet into the shopping cart", "skill": "Place", "language_memory": "The robot adjusted its waist height and retrieved a green bagged snack and yellow packaged chicken feet from the shelf."}, {"start_frame": 684, "end_frame": 760, "action_text": "place the green packaged chicken feet into the shopping cart", "skill": "Place", "language_memory": "The robot adjusted its waist height, retrieved a green bagged snack and yellow packaged chicken feet from the shelf, and placed the chicken feet into the shopping cart."}, {"start_frame": 760, "end_frame": 809, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot adjusted its waist height, retrieved a green bagged snack and yellow packaged chicken feet from the shelf, and placed both items into the shopping cart."}, {"start_frame": 809, "end_frame": 878, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot adjusted its posture, picked up green and yellow bagged snacks from the shelf, and placed them into the shopping cart."}, {"start_frame": 878, "end_frame": 1080, "action_text": "pick up the yellow bagged snack from the shelf", "skill": "Pick", "language_memory": "The robot adjusted its posture, rotated its waist, picked up green and yellow bagged snacks from the shelf, and placed them into the shopping cart."}, {"start_frame": 1080, "end_frame": 1215, "action_text": "pick up the yellow packaged chicken feet from the shelf", "skill": "Pick", "language_memory": "The robot adjusted its posture and waist rotation to reach the shelf, picked up green and yellow bagged snacks along with yellow packaged chicken feet, and placed the packaged chicken feet into the shopping cart."}, {"start_frame": 1215, "end_frame": 1317, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot adjusted its posture and waist rotation, picked up green and yellow bagged snacks along with yellow packaged chicken feet from the shelf, and placed the yellow packaged chicken feet and green packaged chicken feet into the shopping cart."}, {"start_frame": 1317, "end_frame": 1397, "action_text": "place the yellow bagged chicken feet into the shopping cart", "skill": "Place", "language_memory": "The robot adjusted its posture, picked up green and yellow bagged snacks along with yellow packaged chicken feet from the shelf, and placed the yellow packaged chicken feet and green packaged chicken feet into the shopping cart."}, {"start_frame": 1397, "end_frame": 1480, "action_text": "place the yellow bagged snack into the shopping cart", "skill": "Place", "language_memory": "The robot adjusted its posture, picked up green and yellow bagged snacks along with multiple yellow packaged chicken feet from the shelf, and placed all of them into the shopping cart."}, {"start_frame": 1480, "end_frame": 1532, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot adjusted its posture, picked up green and yellow bagged snacks along with multiple yellow packaged chicken feet from the shelf, and placed all of them into the shopping cart."}, {"start_frame": 1532, "end_frame": 1609, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot adjusted its posture, rotated its waist, and picked up green and yellow bagged snacks along with yellow packaged chicken feet from the shelf, subsequently placing all retrieved items into the shopping cart."}, {"start_frame": 1609, "end_frame": 1736, "action_text": "pick up the yellow bagged snack from the shelf", "skill": "Pick", "language_memory": "The robot adjusted its posture and waist orientation, retrieved multiple green and yellow bagged snacks and packaged chicken feet from the shelf, and successfully placed all items into the shopping cart."}, {"start_frame": 1736, "end_frame": 1862, "action_text": "pick up the red bag of quail eggs from the shelf", "skill": "Pick", "language_memory": "The robot adjusted its posture and waist orientation, retrieved multiple green and yellow bagged snacks and packaged chicken feet from the shelf, and successfully placed all collected items into the shopping cart."}, {"start_frame": 1862, "end_frame": 1963, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot adjusted its posture and waist orientation, retrieved multiple bagged snacks and packaged chicken feet from the shelf, and placed them into the shopping cart."}, {"start_frame": 1963, "end_frame": 2018, "action_text": "place the red bag of quail eggs into the shopping cart", "skill": "Place", "language_memory": "The robot adjusted its posture and waist orientation, retrieved multiple bagged snacks and packaged chicken feet from the shelf, and placed them into the shopping cart."}, {"start_frame": 2018, "end_frame": 2083, "action_text": "place the yellow bagged snack into the shopping cart", "skill": "Place", "language_memory": "The robot adjusted its posture and waist orientation, retrieved multiple items including green and yellow bagged snacks, yellow and red packaged chicken feet, and a red bag of quail eggs from the shelf, and successfully placed all of them into the shopping cart."}, {"start_frame": 2083, "end_frame": 2115, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot adjusted its posture and waist orientation, retrieved multiple items including green and yellow bagged snacks, yellow and red packaged chicken feet, and a red bag of quail eggs from the shelf, and successfully placed all of them into the shopping cart."}, {"start_frame": 2115, "end_frame": 2243, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot adjusted its posture and waist orientation, retrieved multiple items including green and yellow bagged snacks, yellow and red packaged chicken feet, and a red bag of quail eggs from the shelf, and successfully placed all of them into the shopping cart."}], "detailed_task_instruction": ["Restock the shopping cart with bagged snacks and packaged items by first adjusting your posture and rotating your waist to reach higher shelves. Pick up the green bagged snack and the yellow packaged chicken feet, then bend down to place the chicken feet into the cart before placing the green bagged snack inside. Next, adjust your posture and rotate your waist again to access lower shelves. Pick up the yellow bagged snack and the yellow packaged chicken feet, bend over, and place both items into the shopping cart. Finally, adjust your posture one last time, rotate your waist, pick up the yellow bagged snack and the red bag of quail eggs from the shelf, bend over, and place both items into the shopping cart to complete the restocking process."]}
{"task_id": "task_3641", "episode_index": 15, "video_path": "task_3641/videos/chunk-000/{video_key}/episode_000015.mp4", "tasks": ["Restocking the bagged snack."], "length": 2344, "action_config": [{"start_frame": 66, "end_frame": 182, "action_text": "pick up the white bagged snack from the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 182, "end_frame": 297, "action_text": "pick up the red packaged quail eggs from the shelf", "skill": "Pick", "language_memory": "The robot has picked up the white bagged snack from the shelf."}, {"start_frame": 297, "end_frame": 411, "action_text": "as the height decreases, the waist bends downward", "skill": "AdjustPosture", "language_memory": "The robot has picked up the white bagged snack and the red packaged quail eggs from the shelf."}, {"start_frame": 411, "end_frame": 507, "action_text": "place the red bag of quail eggs into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up a white bagged snack and red packaged quail eggs from the shelf and adjusted its waist height downward."}, {"start_frame": 507, "end_frame": 607, "action_text": "place the white bag of snacks into the shopping cart", "skill": "Place", "language_memory": "The robot picked up a white bagged snack and red packaged quail eggs from the shelf, adjusted its waist height, and placed the red bag of quail eggs into the shopping cart."}, {"start_frame": 607, "end_frame": 655, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot picked up a white bagged snack and red packaged quail eggs from the shelf, adjusted its waist height, and placed both items into the shopping cart."}, {"start_frame": 655, "end_frame": 840, "action_text": "pick up the orange packaged snack from the shelf", "skill": "Pick", "language_memory": "The robot picked up a white bagged snack and red packaged quail eggs from the shelf, adjusted its posture, and placed both items into the shopping cart."}, {"start_frame": 840, "end_frame": 945, "action_text": "pick up the yellow packaged chicken feet from the shelf", "skill": "Pick", "language_memory": "The robot retrieved a white bagged snack, red packaged quail eggs, and an orange packaged snack from the shelf, adjusted its posture, and placed the quail eggs and white bagged snack into the shopping cart."}, {"start_frame": 945, "end_frame": 1088, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot retrieved white bagged snacks, red packaged quail eggs, orange packaged snacks, and yellow packaged chicken feet from the shelf, adjusted its posture, and placed the quail eggs and white bagged snacks into the shopping cart."}, {"start_frame": 1088, "end_frame": 1161, "action_text": "place the yellow bagged chicken feet into the shopping cart", "skill": "Place", "language_memory": "The robot retrieved white bagged snacks, red packaged quail eggs, orange packaged snacks, and yellow packaged chicken feet from the shelf, adjusted its posture, and placed the quail eggs and white bagged snacks into the shopping cart."}, {"start_frame": 1161, "end_frame": 1262, "action_text": "place the orange bagged snack into the shopping cart", "skill": "Place", "language_memory": "The robot has successfully retrieved white bagged snacks, red packaged quail eggs, orange packaged snacks, and yellow packaged chicken feet from the shelf and placed all of them into the shopping cart while adjusting its posture as needed."}, {"start_frame": 1262, "end_frame": 1308, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot successfully retrieved white bagged snacks, red packaged quail eggs, orange packaged snacks, and yellow packaged chicken feet from the shelf and placed all items into the shopping cart while adjusting its posture."}, {"start_frame": 1308, "end_frame": 1452, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot has successfully retrieved and placed multiple items, including white bagged snacks, red quail eggs, orange snacks, and yellow chicken feet, into the shopping cart while adjusting its posture as needed."}, {"start_frame": 1452, "end_frame": 1780, "action_text": "pick up the white packaged chicken feet from the shelf", "skill": "Pick", "language_memory": "The robot has successfully retrieved and placed multiple items, including white bagged snacks, red quail eggs, orange snacks, and yellow chicken feet, into the shopping cart while adjusting its posture as needed."}, {"start_frame": 1780, "end_frame": 1892, "action_text": "pick up the green bagged snack from the shelf", "skill": "Pick", "language_memory": "The robot has successfully retrieved and placed multiple items including white bagged snacks, red quail eggs, orange snacks, and yellow chicken feet into the shopping cart, while adjusting its posture and bending as needed during the process."}, {"start_frame": 1892, "end_frame": 2033, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot has successfully retrieved multiple items including white, red, orange, yellow, and green packaged snacks and chicken feet from the shelf, adjusted its posture as needed, and placed all collected items into the shopping cart."}, {"start_frame": 2033, "end_frame": 2103, "action_text": "place the green bagged snacks into the shopping cart", "skill": "Place", "language_memory": "The robot has successfully retrieved multiple items including white, red, orange, and yellow packaged snacks and chicken feet from the shelf, adjusted its posture as needed, and placed all collected items into the shopping cart."}, {"start_frame": 2103, "end_frame": 2186, "action_text": "place the white bagged chicken feet into the shopping cart", "skill": "Place", "language_memory": "The robot has successfully retrieved multiple items including white, red, orange, yellow, and green packaged snacks and chicken feet from the shelf, adjusted its posture as needed, and placed all collected items into the shopping cart."}, {"start_frame": 2186, "end_frame": 2230, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot has successfully retrieved multiple items including white, red, orange, yellow, and green packaged snacks and chicken feet from the shelf, adjusted its posture as needed, and placed all collected items into the shopping cart."}, {"start_frame": 2230, "end_frame": 2296, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has successfully retrieved multiple items including white, red, orange, yellow, and green packaged snacks and chicken feet from the shelf, adjusted its posture as needed, and placed all collected items into the shopping cart."}, {"start_frame": 2296, "end_frame": 2343, "action_text": "place the reset position", "skill": "Place", "language_memory": "The robot successfully retrieved multiple items including white, red, orange, yellow, and green packaged snacks and chicken feet from the shelf, adjusted its posture as needed, and placed all collected items into the shopping cart."}], "detailed_task_instruction": ["Restock the shopping cart by sequentially retrieving specific items from the shelf and placing them inside. Begin by picking up the white bagged snack and the red packaged quail eggs, then place both into the cart. Next, retrieve the orange packaged snack and the yellow packaged chicken feet, placing them into the cart. Follow this by picking up the white packaged chicken feet and the green bagged snack, and finally place these last two items into the cart. Throughout the process, adjust your posture, bend down as needed to reach lower shelves, and rotate your waist to maintain balance and access all items before returning to the reset position."]}
{"task_id": "task_3641", "episode_index": 16, "video_path": "task_3641/videos/chunk-000/{video_key}/episode_000016.mp4", "tasks": ["Restocking the bagged snack."], "length": 2502, "action_config": [{"start_frame": 21, "end_frame": 135, "action_text": "pick up the yellow packaged chicken feet from the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 135, "end_frame": 270, "action_text": "pick up the yellow bagged eggs from the shelf", "skill": "Pick", "language_memory": "The robot has picked up the yellow packaged chicken feet from the shelf."}, {"start_frame": 270, "end_frame": 397, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot has picked up the yellow packaged chicken feet and the yellow bagged eggs from the shelf."}, {"start_frame": 397, "end_frame": 480, "action_text": "place the yellow bagged eggs into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up the yellow packaged chicken feet and yellow bagged eggs from the shelf and adjusted its posture."}, {"start_frame": 480, "end_frame": 573, "action_text": "place the yellow packaged chicken feet into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the yellow packaged chicken feet and yellow bagged eggs from the shelf, adjusted its posture, and placed the yellow bagged eggs into the shopping cart."}, {"start_frame": 573, "end_frame": 644, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot picked up yellow packaged chicken feet and yellow bagged eggs from the shelf, adjusted its posture, and placed both items into the shopping cart."}, {"start_frame": 644, "end_frame": 847, "action_text": "pick up the yellow bagged snack from the shelf", "skill": "Pick", "language_memory": "The robot picked up yellow packaged chicken feet and yellow bagged eggs from the shelf and placed both items into the shopping cart."}, {"start_frame": 847, "end_frame": 963, "action_text": "pick up the yellow packaged chicken feet from the shelf", "skill": "Pick", "language_memory": "The robot picked up yellow packaged chicken feet and yellow bagged eggs from the shelf, adjusted its posture, and placed both items into the shopping cart before picking up a yellow bagged snack from the shelf."}, {"start_frame": 963, "end_frame": 1092, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot has picked up yellow packaged chicken feet and yellow bagged eggs from the shelf, adjusted its posture, and placed the eggs and chicken feet into the shopping cart."}, {"start_frame": 1092, "end_frame": 1160, "action_text": "place the yellow bagged chicken feet into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up yellow packaged chicken feet and yellow bagged eggs from the shelf, adjusted its posture, and placed the eggs and one set of chicken feet into the shopping cart, while also picking up a yellow bagged snack and bending over."}, {"start_frame": 1160, "end_frame": 1256, "action_text": "place the yellow bagged snacks into the shopping cart", "skill": "Place", "language_memory": "The robot has successfully retrieved multiple yellow packaged items, including chicken feet and bagged eggs, from the shelf and placed them into the shopping cart while adjusting its posture as needed."}, {"start_frame": 1256, "end_frame": 1320, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot has successfully picked up multiple yellow packaged items including chicken feet, eggs, and snacks from the shelf, adjusted its posture as needed, and placed all collected items into the shopping cart."}, {"start_frame": 1320, "end_frame": 1409, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot has successfully picked up multiple yellow packaged items including chicken feet, eggs, and snacks from the shelf, adjusted its posture several times, and placed all collected items into the shopping cart."}, {"start_frame": 1409, "end_frame": 1537, "action_text": "pick up the green bagged snack from the shelf", "skill": "Pick", "language_memory": "The robot has successfully picked up multiple yellow packaged items including chicken feet, eggs, and snacks from the shelf, adjusted its posture, and placed all collected items into the shopping cart."}, {"start_frame": 1537, "end_frame": 1650, "action_text": "pick up the red bag of quail eggs from the shelf", "skill": "Pick", "language_memory": "The robot has picked up and placed multiple yellow packaged items, including chicken feet, eggs, and snacks, into the shopping cart, adjusted its posture several times, and is currently holding a green bagged snack."}, {"start_frame": 1650, "end_frame": 1792, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot has picked up and placed multiple yellow and green bagged snacks, yellow packaged chicken feet, and a red bag of quail eggs into the shopping cart, while adjusting its posture and bending over as needed."}, {"start_frame": 1792, "end_frame": 1848, "action_text": "place the red bag of quail eggs into the shopping cart", "skill": "Place", "language_memory": "The robot has successfully restocked the shopping cart with yellow packaged chicken feet, yellow bagged eggs, yellow bagged snacks, green bagged snacks, and a red bag of quail eggs."}, {"start_frame": 1848, "end_frame": 1918, "action_text": "place the white bag of snacks into the shopping cart", "skill": "Place", "language_memory": "The robot has successfully picked up and placed multiple items including yellow packaged chicken feet, yellow bagged eggs, yellow bagged snacks, green bagged snacks, and a red bag of quail eggs into the shopping cart, while adjusting its posture and bending over as needed."}, {"start_frame": 1918, "end_frame": 1955, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot has successfully restocked the shopping cart with multiple items including yellow packaged chicken feet, yellow bagged eggs, yellow bagged snacks, green bagged snacks, a red bag of quail eggs, and a white bag of snacks."}, {"start_frame": 1955, "end_frame": 2021, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has successfully restocked the shopping cart with multiple items including yellow packaged chicken feet, yellow bagged eggs, yellow bagged snacks, green bagged snacks, a red bag of quail eggs, and a white bag of snacks."}, {"start_frame": 2021, "end_frame": 2413, "action_text": "place the green packaged snacks on the target", "skill": "Place", "language_memory": "The robot has successfully restocked the shopping cart with multiple items including yellow packaged chicken feet, yellow bagged eggs, yellow bagged snacks, green bagged snacks, a red bag of quail eggs, and a white bag of snacks."}, {"start_frame": 2413, "end_frame": 2501, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot successfully restocked the shopping cart by picking up and placing various bagged snacks, including yellow chicken feet, yellow eggs, green snacks, red quail eggs, and white snacks, while adjusting its posture and rotating its waist as needed."}], "detailed_task_instruction": ["Restock the bagged snacks by first picking up the yellow packaged chicken feet and yellow bagged eggs from the shelf, adjusting your posture, and placing both items into the shopping cart. Next, retrieve the yellow bagged snack and another yellow packaged chicken feet, bend over, and place the chicken feet and the yellow bagged snack into the cart while adjusting your posture. Then, pick up the green bagged snack and the red bag of quail eggs, bend over, and place the quail eggs and a white bag of snacks into the shopping cart. Finally, adjust your posture, rotate your waist, and place the green packaged snacks on the target."]}
{"task_id": "task_3641", "episode_index": 17, "video_path": "task_3641/videos/chunk-000/{video_key}/episode_000017.mp4", "tasks": ["Restocking the bagged snack."], "length": 1508, "action_config": [{"start_frame": 0, "end_frame": 127, "action_text": "pick up the green bagged snack from the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 127, "end_frame": 273, "action_text": "pick up the white bagged snack from the shelf", "skill": "Pick", "language_memory": "The robot has picked up the green bagged snack from the shelf."}, {"start_frame": 273, "end_frame": 387, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot has picked up the green and white bagged snacks from the shelf."}, {"start_frame": 387, "end_frame": 477, "action_text": "place the green bagged snacks into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up the green and white bagged snacks from the shelf and adjusted its posture."}, {"start_frame": 477, "end_frame": 563, "action_text": "place the white bagged snacks into the shopping cart", "skill": "Place", "language_memory": "The robot picked up green and white bagged snacks from the shelf, adjusted its posture, and placed the green bagged snacks into the shopping cart."}, {"start_frame": 563, "end_frame": 609, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot picked up green and white bagged snacks from the shelf, adjusted its posture, and placed them into the shopping cart."}, {"start_frame": 609, "end_frame": 784, "action_text": "pick up the yellow packaged snack from the shelf", "skill": "Pick", "language_memory": "The robot picked up green and white bagged snacks from the shelf and placed them into the shopping cart."}, {"start_frame": 784, "end_frame": 1051, "action_text": "pick up the yellow bagged snack from the shelf", "skill": "Pick", "language_memory": "The robot picked up green, white, and yellow bagged snacks from the shelf, adjusted its posture, and placed the green and white snacks into the shopping cart."}, {"start_frame": 1051, "end_frame": 1181, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot picked up green, white, and yellow bagged snacks from the shelf and placed them into the shopping cart."}, {"start_frame": 1181, "end_frame": 1250, "action_text": "place the yellow bagged snacks into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up green, white, and yellow bagged snacks from the shelf and placed the green and white snacks into the shopping cart."}, {"start_frame": 1250, "end_frame": 1343, "action_text": "place the yellow bagged snacks into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up green, white, and yellow bagged snacks from the shelf and placed them into the shopping cart."}, {"start_frame": 1343, "end_frame": 1401, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot has picked up green, white, and yellow bagged snacks from the shelf and placed them into the shopping cart."}, {"start_frame": 1401, "end_frame": 1454, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has successfully picked up green, white, and yellow bagged snacks from the shelf and placed them into the shopping cart."}, {"start_frame": 1454, "end_frame": 1507, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot has successfully picked up green, white, and yellow bagged snacks from the shelf and placed them into the shopping cart, while adjusting its posture and rotating its waist throughout the process."}], "detailed_task_instruction": ["Restock the shopping cart with bagged snacks by first picking up the green and white bagged snacks from the shelf, adjusting your posture, and placing both into the cart. Next, retrieve the yellow packaged snack and the yellow bagged snack from the shelf, bend over, and place the yellow bagged snacks into the cart. Throughout the process, adjust your robot posture and rotate your waist as needed to reach the items and position yourself correctly for placing them into the shopping cart."]}
{"task_id": "task_3641", "episode_index": 18, "video_path": "task_3641/videos/chunk-000/{video_key}/episode_000018.mp4", "tasks": ["Restocking the bagged snack."], "length": 2102, "action_config": [{"start_frame": 0, "end_frame": 149, "action_text": "pick up the green bagged snack from the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 149, "end_frame": 370, "action_text": "pick up the green bagged chicken feet from the shelf", "skill": "Pick", "language_memory": "The robot has picked up the green bagged snack from the shelf."}, {"start_frame": 370, "end_frame": 495, "action_text": "as the height decreases, the waist bends downward", "skill": "AdjustPosture", "language_memory": "The robot has picked up the green bagged snack and the green bagged chicken feet from the shelf."}, {"start_frame": 495, "end_frame": 558, "action_text": "place the green packaged chicken feet into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up green bagged snacks and green bagged chicken feet from the shelf and adjusted its waist posture downward as height decreased."}, {"start_frame": 558, "end_frame": 654, "action_text": "place the green bagged snacks into the shopping cart", "skill": "Place", "language_memory": "The robot picked up green bagged snacks and chicken feet from the shelf, adjusted its waist height, and placed the chicken feet into the shopping cart."}, {"start_frame": 654, "end_frame": 701, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot picked up green bagged snacks and green bagged chicken feet from the shelf, adjusted its waist height, and placed both items into the shopping cart."}, {"start_frame": 701, "end_frame": 922, "action_text": "pick up the yellow bagged snack from the shelf", "skill": "Pick", "language_memory": "The robot picked up green bagged snacks and green bagged chicken feet from the shelf, adjusted its posture, and placed both items into the shopping cart."}, {"start_frame": 922, "end_frame": 958, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot retrieved green bagged snacks and chicken feet from the shelf, adjusted its posture, and placed all items into the shopping cart before picking up a yellow bagged snack."}, {"start_frame": 958, "end_frame": 1062, "action_text": "pick up the yellow bagged eggs from the shelf", "skill": "Pick", "language_memory": "The robot retrieved green bagged snacks and chicken feet from the shelf, adjusted its posture, and placed all items into the shopping cart."}, {"start_frame": 1062, "end_frame": 1172, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot has picked up green bagged snacks, green bagged chicken feet, yellow bagged snacks, and yellow bagged eggs from the shelf, adjusted its posture, and placed the green items into the shopping cart."}, {"start_frame": 1172, "end_frame": 1238, "action_text": "place the yellow bagged eggs into the shopping cart", "skill": "Place", "language_memory": "The robot has successfully retrieved green bagged snacks, green bagged chicken feet, yellow bagged snacks, and yellow bagged eggs from the shelf and placed them into the shopping cart while adjusting its posture."}, {"start_frame": 1238, "end_frame": 1326, "action_text": "place the yellow bagged snacks into the shopping cart", "skill": "Place", "language_memory": "The robot has successfully retrieved green bagged snacks, green bagged chicken feet, yellow bagged snacks, and yellow bagged eggs from the shelf and placed all items into the shopping cart."}, {"start_frame": 1326, "end_frame": 1366, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot has successfully retrieved green and yellow bagged snacks and eggs from the shelf, adjusted its posture as needed, and placed all items into the shopping cart."}, {"start_frame": 1366, "end_frame": 1564, "action_text": "pick up the yellow bagged snack from the shelf", "skill": "Pick", "language_memory": "The robot has successfully retrieved green and yellow bagged snacks and eggs from the shelf, adjusted its posture as needed, and placed all items into the shopping cart."}, {"start_frame": 1564, "end_frame": 1674, "action_text": "pick up the yellow packaged chicken feet from the shelf", "skill": "Pick", "language_memory": "The robot has successfully restocked green and yellow bagged snacks and eggs into the shopping cart, including adjusting its posture during the process."}, {"start_frame": 1674, "end_frame": 1758, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has successfully retrieved green and yellow bagged snacks, chicken feet, and eggs from the shelf and placed all items into the shopping cart while adjusting its posture as needed."}, {"start_frame": 1758, "end_frame": 1795, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot has successfully restocked the shopping cart with green and yellow bagged snacks, chicken feet, and eggs by picking them from the shelf and placing them into the cart while adjusting its posture."}, {"start_frame": 1795, "end_frame": 1857, "action_text": "place the yellow bagged chicken feet into the shopping cart", "skill": "Place", "language_memory": "The robot has successfully retrieved and placed multiple green and yellow bagged snacks, chicken feet, and eggs into the shopping cart while adjusting its posture throughout the process."}, {"start_frame": 1857, "end_frame": 1947, "action_text": "place the yellow bagged snacks into the shopping cart", "skill": "Place", "language_memory": "The robot has successfully restocked the shopping cart with green and yellow bagged snacks, chicken feet, and eggs by picking them from the shelf and placing them into the cart while adjusting its posture as needed."}, {"start_frame": 1947, "end_frame": 1997, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot has successfully restocked the shopping cart by picking up and placing green and yellow bagged snacks, chicken feet, and eggs from the shelves."}, {"start_frame": 1997, "end_frame": 2069, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has successfully restocked the shopping cart with green and yellow bagged snacks, chicken feet, and eggs by picking them from the shelf and placing them into the cart while adjusting its posture."}, {"start_frame": 2069, "end_frame": 2101, "action_text": "place the reset position", "skill": "Place", "language_memory": "The robot has successfully restocked the shopping cart with green and yellow bagged snacks, chicken feet, and eggs by picking them from the shelf and placing them into the cart while adjusting its posture."}], "detailed_task_instruction": ["Restock the shopping cart with bagged snacks by first picking up the green bagged snacks and green bagged chicken feet from the shelf, bending the waist as needed to reach lower items, and placing them into the cart while adjusting the robot posture. Next, retrieve the yellow bagged snacks, yellow bagged eggs, and yellow bagged chicken feet from the shelf, bending over and rotating the waist to access items at varying heights, then place these yellow items into the shopping cart. Finally, adjust the robot posture and return to the reset position after completing the restocking of all green and yellow bagged snacks and chicken feet."]}
{"task_id": "task_3641", "episode_index": 19, "video_path": "task_3641/videos/chunk-000/{video_key}/episode_000019.mp4", "tasks": ["Restocking the bagged snack."], "length": 2755, "action_config": [{"start_frame": 171, "end_frame": 307, "action_text": "pick up the green bagged snack from the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 307, "end_frame": 448, "action_text": "pick up the white bagged snack from the shelf", "skill": "Pick", "language_memory": "The robot has picked up the green bagged snack from the shelf."}, {"start_frame": 448, "end_frame": 572, "action_text": "as the height decreases, the waist bends downward", "skill": "AdjustPosture", "language_memory": "The robot has picked up the green and white bagged snacks from the shelf."}, {"start_frame": 572, "end_frame": 664, "action_text": "place the green bagged snacks into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up the green and white bagged snacks from the shelf and adjusted its waist posture downward as height decreased."}, {"start_frame": 664, "end_frame": 780, "action_text": "place the white bag of snacks into the shopping cart", "skill": "Place", "language_memory": "The robot picked up green and white bagged snacks from the shelf, adjusted its waist height, and placed the green bagged snacks into the shopping cart."}, {"start_frame": 780, "end_frame": 845, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot picked up green and white bagged snacks from the shelf, adjusted its waist height, and placed all the snacks into the shopping cart."}, {"start_frame": 845, "end_frame": 1050, "action_text": "pick up the red bagged snack from the shelf", "skill": "Pick", "language_memory": "The robot picked up green and white bagged snacks from the shelf, adjusted its posture, and placed all snacks into the shopping cart."}, {"start_frame": 1050, "end_frame": 1185, "action_text": "pick up the yellow bagged snack from the shelf", "skill": "Pick", "language_memory": "The robot picked up green, white, and red bagged snacks from the shelf, adjusted its posture, and placed the green and white snacks into the shopping cart."}, {"start_frame": 1185, "end_frame": 1294, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot picked up green, white, red, and yellow bagged snacks from the shelf, adjusted its posture, and placed the green and white snacks into the shopping cart."}, {"start_frame": 1294, "end_frame": 1366, "action_text": "place the yellow bagged snacks into the shopping cart", "skill": "Place", "language_memory": "The robot retrieved green, white, red, and yellow bagged snacks from the shelf, adjusted its posture as needed, and placed the green and white snacks into the shopping cart."}, {"start_frame": 1366, "end_frame": 1451, "action_text": "place the red bagged snacks into the shopping cart", "skill": "Place", "language_memory": "The robot successfully picked up green, white, red, and yellow bagged snacks from the shelf, adjusted its posture as needed, and placed all of them into the shopping cart."}, {"start_frame": 1451, "end_frame": 1495, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot successfully picked up green, white, red, and yellow bagged snacks from the shelf, adjusted its posture as needed, and placed all of them into the shopping cart."}], "detailed_task_instruction": ["Restock the bagged snacks by first picking up the green and white bagged snacks from the shelf while bending your waist as the height decreases, then placing them into the shopping cart and adjusting your posture. Next, pick up the red and yellow bagged snacks from the shelf by bending over, place the yellow bagged snacks into the shopping cart, followed by the red bagged snacks, and finally adjust your posture to complete the restocking process."]}
{"task_id": "task_3641", "episode_index": 20, "video_path": "task_3641/videos/chunk-000/{video_key}/episode_000020.mp4", "tasks": ["Restocking the bagged snack."], "length": 2104, "action_config": [{"start_frame": 24, "end_frame": 160, "action_text": "pick up the orange-packaged crab sticks from the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 160, "end_frame": 290, "action_text": "pick up the red bag of quail eggs from the shelf", "skill": "Pick", "language_memory": "The robot has picked up the orange-packaged crab sticks from the shelf."}, {"start_frame": 290, "end_frame": 403, "action_text": "as the height decreases, the waist bends downward", "skill": "AdjustPosture", "language_memory": "The robot has picked up the orange-packaged crab sticks and the red bag of quail eggs from the shelf."}, {"start_frame": 403, "end_frame": 468, "action_text": "place the red bag of quail eggs into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up the orange-packaged crab sticks and the red bag of quail eggs from the shelf and adjusted its waist posture downward as height decreased."}, {"start_frame": 468, "end_frame": 628, "action_text": "place the orange packaged crab stick into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the orange-packaged crab sticks and the red bag of quail eggs from the shelf, adjusted its waist posture as height decreased, and placed the red bag of quail eggs into the shopping cart."}, {"start_frame": 628, "end_frame": 705, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up an orange-packaged crab stick and a red bag of quail eggs from the shelf, adjusted its waist height, and placed both items into the shopping cart."}, {"start_frame": 705, "end_frame": 828, "action_text": "pick up the white bagged snack from the shelf", "skill": "Pick", "language_memory": "The robot picked up the orange-packaged crab sticks and the red bag of quail eggs from the shelf, adjusted its waist height, and placed both items into the shopping cart."}, {"start_frame": 828, "end_frame": 971, "action_text": "pick up the yellow packaged chicken feet from the shelf", "skill": "Pick", "language_memory": "The robot picked up the orange-packaged crab sticks, the red bag of quail eggs, and the white bagged snack from the shelf, adjusted its waist posture, and placed the crab sticks and quail eggs into the shopping cart."}, {"start_frame": 971, "end_frame": 1085, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot picked up orange-packaged crab sticks, red bagged quail eggs, white bagged snacks, and yellow packaged chicken feet from the shelf, adjusted its waist posture, and placed the quail eggs and crab sticks into the shopping cart."}, {"start_frame": 1085, "end_frame": 1148, "action_text": "place the yellow bagged chicken feet into the shopping cart", "skill": "Place", "language_memory": "The robot retrieved orange-packaged crab sticks, red bagged quail eggs, white bagged snacks, and yellow packaged chicken feet from the shelf, adjusted its posture including bending the waist and rotating, and placed the quail eggs and crab sticks into the shopping cart."}, {"start_frame": 1148, "end_frame": 1245, "action_text": "place the white bagged snacks into the shopping cart", "skill": "Place", "language_memory": "The robot retrieved orange-packaged crab sticks, red bagged quail eggs, white bagged snacks, and yellow-packaged chicken feet from the shelf and placed all of them into the shopping cart."}, {"start_frame": 1245, "end_frame": 1292, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot has successfully retrieved orange-packaged crab sticks, red bagged quail eggs, white bagged snacks, and yellow-packaged chicken feet from the shelf and placed all of them into the shopping cart."}, {"start_frame": 1292, "end_frame": 1407, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot has successfully retrieved and placed the orange-packaged crab sticks, red bag of quail eggs, white bagged snacks, and yellow packaged chicken feet into the shopping cart while adjusting its posture throughout the process."}, {"start_frame": 1407, "end_frame": 1554, "action_text": "pick up the yellow bagged snack from the shelf", "skill": "Pick", "language_memory": "The robot successfully retrieved orange-packaged crab sticks, red bagged quail eggs, white bagged snacks, and yellow packaged chicken feet from the shelf and placed all items into the shopping cart while adjusting its posture."}, {"start_frame": 1554, "end_frame": 1680, "action_text": "pick up the yellow packaged chicken feet from the shelf", "skill": "Pick", "language_memory": "The robot has successfully retrieved and placed multiple items including crab sticks, quail eggs, chicken feet, and various bagged snacks into the shopping cart, while adjusting its posture throughout the process."}, {"start_frame": 1680, "end_frame": 1795, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot has successfully retrieved multiple items including crab sticks, quail eggs, white bagged snacks, and yellow packaged chicken feet from the shelf and placed them into the shopping cart."}, {"start_frame": 1795, "end_frame": 1859, "action_text": "place the yellow packaged chicken feet into the shopping cart", "skill": "Place", "language_memory": "The robot has successfully retrieved multiple items including crab sticks, quail eggs, white bagged snacks, and yellow packaged chicken feet from the shelf and placed them into the shopping cart."}, {"start_frame": 1859, "end_frame": 1951, "action_text": "place the yellow bagged snack into the shopping cart", "skill": "Place", "language_memory": "The robot has successfully retrieved and placed multiple items, including orange-packaged crab sticks, red and yellow bags of quail eggs and chicken feet, and white bagged snacks, into the shopping cart while adjusting its posture throughout the process."}, {"start_frame": 1951, "end_frame": 1995, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot successfully retrieved multiple items including crab sticks, quail eggs, white bagged snacks, and yellow packaged chicken feet from the shelf and placed them into the shopping cart."}, {"start_frame": 1995, "end_frame": 2101, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot successfully retrieved multiple items including crab sticks, quail eggs, white bagged snacks, and yellow packaged chicken feet from the shelf and placed them into the shopping cart."}], "detailed_task_instruction": ["Restock the shopping cart with bagged snacks by first picking up the orange-packaged crab sticks and the red bag of quail eggs from the shelf, bending your waist as needed, and placing both items into the cart. Next, retrieve the white bagged snack and the yellow packaged chicken feet, adjusting your posture and bending over to place these items into the cart. Finally, pick up the yellow bagged snack and the additional yellow packaged chicken feet from the shelf, bending over to place them into the cart, and adjust your robot posture to complete the restocking process."]}
{"task_id": "task_3641", "episode_index": 21, "video_path": "task_3641/videos/chunk-000/{video_key}/episode_000021.mp4", "tasks": ["Restocking the bagged snack."], "length": 1688, "action_config": [{"start_frame": 96, "end_frame": 163, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 163, "end_frame": 333, "action_text": "pick up the green bagged snack from the shopping cart", "skill": "Pick", "language_memory": "The robot has bent over."}, {"start_frame": 333, "end_frame": 450, "action_text": "pick up the yellow packaged chicken feet from the shopping cart", "skill": "Pick", "language_memory": "The robot bent over and picked up the green bagged snack from the shopping cart."}, {"start_frame": 450, "end_frame": 508, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot bent over, picked up the green bagged snack, and picked up the yellow packaged chicken feet from the shopping cart."}, {"start_frame": 508, "end_frame": 649, "action_text": "place the yellow packaged chicken feet on the shelf", "skill": "Place", "language_memory": "The robot bent over, picked up the green bagged snack and yellow packaged chicken feet from the shopping cart, and adjusted its posture."}, {"start_frame": 649, "end_frame": 786, "action_text": "place the green packaged snacks onto the shelf", "skill": "Place", "language_memory": "The robot bent over, picked up the green bagged snack and yellow packaged chicken feet from the shopping cart, adjusted its posture, and placed the chicken feet on the shelf."}, {"start_frame": 786, "end_frame": 900, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot bent over, picked up a green bagged snack and yellow packaged chicken feet from the shopping cart, adjusted its posture, and placed both items onto the shelf."}, {"start_frame": 900, "end_frame": 1219, "action_text": "pick up the orange-packaged crab sticks from the shopping cart", "skill": "Pick", "language_memory": "The robot bent over, picked up a green bagged snack and yellow packaged chicken feet from the shopping cart, adjusted its posture, and placed both items onto the shelf."}, {"start_frame": 1219, "end_frame": 1344, "action_text": "pick up the yellow bagged chicken feet from the shopping cart", "skill": "Pick", "language_memory": "The robot bent over, picked up green bagged snacks, yellow packaged chicken feet, and orange-packaged crab sticks from the shopping cart, adjusted its posture, and placed the chicken feet and green snacks onto the shelf."}, {"start_frame": 1344, "end_frame": 1403, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot has picked up green bagged snacks, yellow packaged chicken feet, and orange-packaged crab sticks from the shopping cart, and placed the yellow packaged chicken feet and green bagged snacks onto the shelf."}, {"start_frame": 1403, "end_frame": 1465, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up green bagged snacks, yellow packaged chicken feet, and orange-packaged crab sticks from the shopping cart and placed the green snacks and yellow chicken feet onto the shelf."}, {"start_frame": 1465, "end_frame": 1544, "action_text": "place the yellow packaged chicken feet on the shelf", "skill": "Place", "language_memory": "The robot has picked up green bagged snacks, yellow packaged chicken feet, and orange-packaged crab sticks from the shopping cart and placed the green snacks and yellow chicken feet onto the shelf."}, {"start_frame": 1544, "end_frame": 1644, "action_text": "place the orange packaged crab sticks on the shelf", "skill": "Place", "language_memory": "The robot has picked up green bagged snacks, yellow packaged chicken feet, and orange-packaged crab sticks from the shopping cart and placed the green bagged snacks and yellow packaged chicken feet onto the shelf."}, {"start_frame": 1644, "end_frame": 1687, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot has successfully restocked the shelf by picking up and placing green bagged snacks, yellow packaged chicken feet, and orange-packaged crab sticks from the shopping cart."}], "detailed_task_instruction": ["Restock the shelf by first bending over to pick up the green bagged snack and the yellow packaged chicken feet from the shopping cart, then adjusting your posture to place the yellow chicken feet and the green bagged snack onto the shelf. Next, bend over again to retrieve the orange-packaged crab sticks and the yellow bagged chicken feet from the cart. Adjust your posture, rotate your waist, and finally place the yellow bagged chicken feet and the orange-packaged crab sticks on the shelf to complete the restocking process."]}
{"task_id": "task_3641", "episode_index": 22, "video_path": "task_3641/videos/chunk-000/{video_key}/episode_000022.mp4", "tasks": ["Restocking the bagged snack."], "length": 2118, "action_config": [{"start_frame": 102, "end_frame": 159, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 159, "end_frame": 319, "action_text": "pick up the yellow bagged snack from the shopping cart", "skill": "Pick", "language_memory": "The robot has bent over."}, {"start_frame": 319, "end_frame": 424, "action_text": "pick up the yellow bagged snack from the shopping cart", "skill": "Pick", "language_memory": "The robot bent over and picked up the yellow bagged snack from the shopping cart."}, {"start_frame": 424, "end_frame": 482, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot bent over and picked up the yellow bagged snack from the shopping cart."}, {"start_frame": 482, "end_frame": 619, "action_text": "place the yellow packaged eggs onto the shelf", "skill": "Place", "language_memory": "The robot bent over, adjusted its posture, and picked up two yellow bagged snacks from the shopping cart."}, {"start_frame": 619, "end_frame": 707, "action_text": "place the yellow packaged pig trotter pieces on the shelf", "skill": "Place", "language_memory": "The robot bent over, picked up yellow bagged snacks from the shopping cart, adjusted its posture, and placed yellow packaged eggs onto the shelf."}, {"start_frame": 707, "end_frame": 851, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot bent over, picked up two yellow bagged snacks from the shopping cart, adjusted its posture, and placed the yellow packaged eggs and pig trotter pieces onto the shelf."}, {"start_frame": 851, "end_frame": 957, "action_text": "pick up the orange packaged chicken feet from the shopping cart", "skill": "Pick", "language_memory": "The robot bent over, picked up two yellow bagged snacks from the shopping cart, adjusted its posture, and placed the yellow packaged eggs and pig trotter pieces onto the shelf."}, {"start_frame": 957, "end_frame": 1103, "action_text": "pick up the yellow bagged snack from the shopping cart", "skill": "Pick", "language_memory": "The robot bent over, picked up two yellow bagged snacks from the shopping cart, adjusted its posture, placed yellow packaged eggs and yellow packaged pig trotter pieces onto the shelf, and picked up an orange packaged chicken feet from the shopping cart."}, {"start_frame": 1103, "end_frame": 1144, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot bent over, picked up multiple yellow bagged snacks and an orange packaged chicken foot from the shopping cart, adjusted its posture, and placed the yellow packaged eggs and yellow packaged pig trotter pieces onto the shelf."}, {"start_frame": 1144, "end_frame": 1286, "action_text": "place the yellow packaged chicken feet on the shelf", "skill": "Place", "language_memory": "The robot has adjusted its posture, picked up multiple yellow bagged snacks and an orange packaged chicken foot from the shopping cart, and placed yellow packaged eggs and yellow packaged pig trotter pieces onto the shelf."}, {"start_frame": 1286, "end_frame": 1374, "action_text": "place the yellow packaged snacks on the shelf", "skill": "Place", "language_memory": "The robot has adjusted its posture, picked up multiple yellow bagged snacks and orange packaged chicken feet from the shopping cart, and placed the yellow packaged eggs, yellow packaged pig trotter pieces, and yellow packaged chicken feet onto the shelf."}, {"start_frame": 1374, "end_frame": 1510, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot has adjusted its posture, picked up multiple yellow bagged snacks and orange packaged chicken feet from the shopping cart, and placed the yellow packaged eggs, pig trotter pieces, chicken feet, and snacks onto the shelf."}, {"start_frame": 1510, "end_frame": 1675, "action_text": "pick up the orange bagged snack from the shopping cart", "skill": "Pick", "language_memory": "The robot has bent over multiple times, adjusted its posture, and successfully placed yellow bagged snacks, yellow packaged eggs, yellow packaged pig trotter pieces, and orange packaged chicken feet onto the shelf."}, {"start_frame": 1675, "end_frame": 1780, "action_text": "pick up the orange packaged chicken feet from the shopping cart", "skill": "Pick", "language_memory": "The robot has restocked the shelf with yellow bagged snacks, yellow packaged eggs, yellow packaged pig trotter pieces, yellow packaged chicken feet, and orange bagged snacks, while also handling orange packaged chicken feet."}, {"start_frame": 1780, "end_frame": 1832, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot has restocked multiple types of bagged snacks, including yellow and orange varieties, along with packaged eggs, pig trotter pieces, and chicken feet, by picking them from the shopping cart and placing them onto the shelf."}, {"start_frame": 1832, "end_frame": 1907, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has restocked the shelf with yellow bagged snacks, yellow packaged eggs, yellow packaged pig trotter pieces, orange packaged chicken feet, and orange bagged snacks."}, {"start_frame": 1907, "end_frame": 1981, "action_text": "place the orange packaged chicken feet on the shelf", "skill": "Place", "language_memory": "The robot has restocked the shelf with yellow bagged snacks, yellow packaged eggs, yellow packaged pig trotter pieces, orange packaged chicken feet, and orange bagged snacks."}, {"start_frame": 1981, "end_frame": 2073, "action_text": "place the orange packaged crab sticks on the shelf", "skill": "Place", "language_memory": "The robot has restocked the shelf with yellow and orange bagged snacks, packaged eggs, pig trotter pieces, and chicken feet by picking them from the shopping cart and placing them on the shelf."}, {"start_frame": 2073, "end_frame": 2117, "action_text": "place the reset position", "skill": "Place", "language_memory": "The robot has restocked the shelf with yellow and orange packaged snacks, chicken feet, pig trotter pieces, and crab sticks by picking them from the shopping cart and placing them on the shelf."}], "detailed_task_instruction": ["Restock the shelf by bending over to pick up yellow bagged snacks and yellow packaged eggs from the shopping cart, then adjust your posture to place the eggs and snacks on the shelf. Next, bend over again to retrieve orange packaged chicken feet and orange bagged snacks, adjusting your posture and rotating your waist as needed to place the chicken feet and orange bagged snacks on the shelf. Finally, pick up the orange packaged crab sticks from the cart, adjust your posture, and place them on the shelf before returning to the reset position."]}
{"task_id": "task_3641", "episode_index": 23, "video_path": "task_3641/videos/chunk-000/{video_key}/episode_000023.mp4", "tasks": ["Restocking the bagged snack."], "length": 2304, "action_config": [{"start_frame": 0, "end_frame": 88, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 88, "end_frame": 135, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot rotated its waist."}, {"start_frame": 135, "end_frame": 285, "action_text": "pick up the yellow bagged snack from the shopping cart", "skill": "Pick", "language_memory": "The robot rotated its waist and bent over."}, {"start_frame": 285, "end_frame": 425, "action_text": "pick up the red bag of quail eggs from the shopping cart", "skill": "Pick", "language_memory": "The robot rotated its waist, bent over, and picked up the yellow bagged snack from the shopping cart."}, {"start_frame": 425, "end_frame": 491, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot rotated its waist, bent over, and picked up the yellow bagged snack and the red bag of quail eggs from the shopping cart."}, {"start_frame": 491, "end_frame": 682, "action_text": "place the red bag of quail eggs on the shelf", "skill": "Place", "language_memory": "The robot rotated its waist, bent over, picked up the yellow bagged snack and the red bag of quail eggs from the shopping cart, and adjusted its posture."}, {"start_frame": 682, "end_frame": 823, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot rotated its waist, bent over, and picked up the yellow bagged snack and red bag of quail eggs from the shopping cart before adjusting its posture and placing the red bag of quail eggs on the shelf."}, {"start_frame": 823, "end_frame": 947, "action_text": "pick up the orange packaged chicken feet from the shopping cart", "skill": "Pick", "language_memory": "The robot rotated its waist, bent over, picked up a yellow bagged snack and a red bag of quail eggs from the shopping cart, adjusted its posture, and placed the red bag of quail eggs on the shelf."}, {"start_frame": 947, "end_frame": 1088, "action_text": "pick up the orange-packaged crab sticks from the shopping cart", "skill": "Pick", "language_memory": "The robot rotated its waist, adjusted its posture, and picked up the yellow bagged snack, red bag of quail eggs, and orange packaged chicken feet from the shopping cart, subsequently placing the red bag of quail eggs on the shelf."}, {"start_frame": 1088, "end_frame": 1128, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot rotated its waist, adjusted its posture, and picked up the yellow bagged snack, red bag of quail eggs, orange packaged chicken feet, and orange-packaged crab sticks from the shopping cart, subsequently placing the red bag of quail eggs on the shelf."}, {"start_frame": 1128, "end_frame": 1277, "action_text": "place the orange packaged chicken feet on the shelf", "skill": "Place", "language_memory": "The robot rotated its waist, bent over, and adjusted its posture to pick up the yellow bagged snack, red bag of quail eggs, orange packaged chicken feet, and orange-packaged crab sticks from the shopping cart, then placed the red bag of quail eggs on the shelf."}, {"start_frame": 1277, "end_frame": 1416, "action_text": "place the orange packaged crab sticks on the shelf", "skill": "Place", "language_memory": "The robot rotated its waist, bent over, and adjusted its posture to pick up the yellow bagged snack, red bag of quail eggs, orange packaged chicken feet, and orange-packaged crab sticks from the shopping cart, subsequently placing the red bag of quail eggs and orange packaged chicken feet on the shelf."}, {"start_frame": 1416, "end_frame": 1487, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot rotated its waist, bent over, and adjusted its posture to pick up and place the yellow bagged snack, red bag of quail eggs, orange packaged chicken feet, and orange-packaged crab sticks onto the shelf."}, {"start_frame": 1487, "end_frame": 1540, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot rotated its waist, bent over, and picked up yellow bagged snacks, red quail eggs, orange chicken feet, and orange crab sticks from the shopping cart, then adjusted its posture and placed the red quail eggs, orange chicken feet, and orange crab sticks on the shelf."}, {"start_frame": 1540, "end_frame": 1838, "action_text": "pick up the yellow bagged eggs from the shopping cart", "skill": "Pick", "language_memory": "The robot rotated its waist, bent over, and picked up yellow bagged snacks, red quail eggs, orange chicken feet, and orange crab sticks from the shopping cart, then adjusted its posture and placed the red quail eggs, orange chicken feet, and orange crab sticks on the shelf."}, {"start_frame": 1838, "end_frame": 1962, "action_text": "pick up the red bagged snack from the shopping cart", "skill": "Pick", "language_memory": "The robot rotated its waist, bent over, and picked up the yellow bagged snack, red bag of quail eggs, orange packaged chicken feet, orange-packaged crab sticks, and yellow bagged eggs from the shopping cart, then placed the red bag of quail eggs, orange packaged chicken feet, and orange-packaged crab sticks on the shelf."}, {"start_frame": 1962, "end_frame": 2013, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot rotated its waist, bent over, and adjusted its posture to pick up and place the yellow bagged snack, red bag of quail eggs, orange packaged chicken feet, orange-packaged crab sticks, yellow bagged eggs, and red bagged snack onto the shelf."}, {"start_frame": 2013, "end_frame": 2153, "action_text": "place the red packaged snacks on the shelf", "skill": "Place", "language_memory": "The robot rotated its waist, bent over, and adjusted its posture to pick up and place the yellow bagged snack, red bag of quail eggs, orange packaged chicken feet, orange-packaged crab sticks, yellow bagged eggs, and red bagged snack onto the shelf."}, {"start_frame": 2153, "end_frame": 2228, "action_text": "place the yellow bagged eggs on the shelf", "skill": "Place", "language_memory": "The robot rotated its waist, bent over, and adjusted its posture to pick up and place yellow bagged snacks, red bags of quail eggs, orange packaged chicken feet, orange-packaged crab sticks, yellow bagged eggs, and red bagged snacks onto the shelf."}, {"start_frame": 2228, "end_frame": 2303, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot rotated its waist, bent over, and adjusted its posture to pick up and place yellow bagged snacks, red bags of quail eggs, orange packaged chicken feet, orange-packaged crab sticks, yellow bagged eggs, and red bagged snacks onto the shelf."}], "detailed_task_instruction": ["Restock the shelf by first rotating your waist and bending over to pick up the yellow bagged snack and the red bag of quail eggs from the shopping cart. Adjust your posture, then place the red bag of quail eggs on the shelf. Next, bend over again to retrieve the orange packaged chicken feet and the orange-packaged crab sticks from the cart. After adjusting your posture, place both the orange packaged chicken feet and the orange-packaged crab sticks on the shelf. Finally, rotate your waist, bend over to pick up the yellow bagged eggs and the red bagged snack, adjust your posture, and place the red packaged snacks and the yellow bagged eggs on the shelf."]}
{"task_id": "task_3641", "episode_index": 24, "video_path": "task_3641/videos/chunk-000/{video_key}/episode_000024.mp4", "tasks": ["Restocking the bagged snack."], "length": 1954, "action_config": [{"start_frame": 90, "end_frame": 152, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 152, "end_frame": 274, "action_text": "pick up the orange bag of chicken feet from the shopping cart", "skill": "Pick", "language_memory": "The robot has bent over."}, {"start_frame": 274, "end_frame": 437, "action_text": "pick up the green bagged scallops from the shopping cart", "skill": "Pick", "language_memory": "The robot bent over and picked up the orange bag of chicken feet from the shopping cart."}, {"start_frame": 437, "end_frame": 482, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot bent over and picked up the orange bag of chicken feet and the green bagged scallops from the shopping cart."}, {"start_frame": 482, "end_frame": 681, "action_text": "place the green bagged scallops on the corresponding shelf", "skill": "Place", "language_memory": "The robot bent over, picked up the orange bag of chicken feet and the green bagged scallops from the shopping cart, and adjusted its posture."}, {"start_frame": 681, "end_frame": 779, "action_text": "place the orange packaged chicken feet on the shelf", "skill": "Place", "language_memory": "The robot bent over, picked up an orange bag of chicken feet and a green bag of scallops from the shopping cart, adjusted its posture, and placed the scallops on the corresponding shelf."}, {"start_frame": 779, "end_frame": 917, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot bent over, picked up an orange bag of chicken feet and a green bag of scallops from the shopping cart, adjusted its posture, and placed both items on the corresponding shelf."}, {"start_frame": 917, "end_frame": 1021, "action_text": "pick up the yellow packaged tiger-patterned chicken feet from the shopping cart", "skill": "Pick", "language_memory": "The robot picked up the orange bag of chicken feet and the green bagged scallops from the shopping cart and placed them on the corresponding shelf."}, {"start_frame": 1021, "end_frame": 1424, "action_text": "pick up the white bagged chicken feet from the shopping cart", "skill": "Pick", "language_memory": "The robot bent over, picked up the orange bag of chicken feet, the green bagged scallops, and the yellow packaged tiger-patterned chicken feet from the shopping cart, adjusted its posture, and placed the green bagged scallops and orange packaged chicken feet on the corresponding shelf."}, {"start_frame": 1424, "end_frame": 1469, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot bent over, picked up the orange bag of chicken feet, green bagged scallops, yellow packaged tiger-patterned chicken feet, and white bagged chicken feet from the shopping cart, adjusted its posture, and placed the green bagged scallops and orange packaged chicken feet on the corresponding shelf."}, {"start_frame": 1469, "end_frame": 1539, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up and placed the orange bag of chicken feet, green bagged scallops, yellow packaged tiger-patterned chicken feet, and white bagged chicken feet onto the corresponding shelf."}, {"start_frame": 1539, "end_frame": 1632, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot retrieved orange, green, yellow, and white bags of chicken feet and scallops from the shopping cart and placed them on the corresponding shelf."}, {"start_frame": 1632, "end_frame": 1735, "action_text": "place the white bagged chicken feet on the shelf", "skill": "Place", "language_memory": "The robot picked up orange, green, yellow, and white bags of chicken feet and scallops from the shopping cart and placed them on the corresponding shelf."}, {"start_frame": 1735, "end_frame": 1845, "action_text": "place the yellow packaged tiger-skin chicken feet on the shelf", "skill": "Place", "language_memory": "The robot has picked up and placed the orange bag of chicken feet, green bagged scallops, yellow packaged tiger-patterned chicken feet, and white bagged chicken feet onto the corresponding shelf."}, {"start_frame": 1845, "end_frame": 1953, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot retrieved orange, green, yellow, and white bags of chicken feet and scallops from the shopping cart and placed all items on the corresponding shelf."}], "detailed_task_instruction": ["Restock the bagged snacks by first bending over to pick up the orange bag of chicken feet and the green bagged scallops from the shopping cart. Adjust your posture, then place the green bagged scallops on the corresponding shelf followed by the orange packaged chicken feet. Next, bend over again to retrieve the yellow packaged tiger-patterned chicken feet and the white bagged chicken feet from the cart. Adjust your posture, rotate your waist, bend over once more, and finally place the white bagged chicken feet on the shelf before placing the yellow packaged tiger-skin chicken feet on the shelf."]}
{"task_id": "task_3641", "episode_index": 25, "video_path": "task_3641/videos/chunk-000/{video_key}/episode_000025.mp4", "tasks": ["Restocking the bagged snack."], "length": 2083, "action_config": [{"start_frame": 90, "end_frame": 191, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 191, "end_frame": 329, "action_text": "pick up the green bagged chicken feet from the shopping cart", "skill": "Pick", "language_memory": "The robot has bent over."}, {"start_frame": 329, "end_frame": 500, "action_text": "pick up the green bagged scallops from the shopping cart", "skill": "Pick", "language_memory": "The robot bent over and picked up the green bagged chicken feet from the shopping cart."}, {"start_frame": 500, "end_frame": 547, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot bent over and picked up the green bagged chicken feet and scallops from the shopping cart."}, {"start_frame": 547, "end_frame": 668, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot bent over, picked up the green bagged chicken feet and scallops from the shopping cart, and adjusted its posture."}, {"start_frame": 668, "end_frame": 772, "action_text": "place the green packaged scallops on the shelf", "skill": "Place", "language_memory": "The robot bent over, picked up the green bagged chicken feet and scallops from the shopping cart, and adjusted its posture."}, {"start_frame": 772, "end_frame": 848, "action_text": "increase height", "skill": "AdjustPosture", "language_memory": "The robot bent over, picked up the green bagged chicken feet and scallops from the shopping cart, adjusted its posture, and placed the green packaged scallops on the shelf."}, {"start_frame": 848, "end_frame": 1009, "action_text": "place the green bagged chicken feet on the corresponding shelf", "skill": "Place", "language_memory": "The robot bent over, picked up green bagged chicken feet and scallops from the shopping cart, adjusted its posture, and placed the green packaged scallops on the shelf."}, {"start_frame": 1009, "end_frame": 1082, "action_text": "decrease height", "skill": "AdjustPosture", "language_memory": "The robot picked up green bagged chicken feet and scallops from the shopping cart and placed them on the corresponding shelves."}, {"start_frame": 1082, "end_frame": 1198, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot picked up green bagged chicken feet and scallops from the shopping cart and placed them on the corresponding shelves."}, {"start_frame": 1198, "end_frame": 1539, "action_text": "pick up the orange packaged chicken feet from the shopping cart", "skill": "Pick", "language_memory": "The robot picked up green bagged chicken feet and scallops from the shopping cart and placed them on the corresponding shelves."}, {"start_frame": 1539, "end_frame": 1679, "action_text": "pick up the white duck wing roots from the shopping cart", "skill": "Pick", "language_memory": "The robot bent over, picked up green bagged chicken feet and scallops from the shopping cart, adjusted its posture, placed the green packaged scallops and green bagged chicken feet on the corresponding shelves, and picked up an orange packaged chicken feet from the shopping cart."}, {"start_frame": 1679, "end_frame": 1727, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot bent over, picked up green bagged chicken feet, green bagged scallops, orange packaged chicken feet, and white duck wing roots from the shopping cart, adjusted its posture, increased and decreased height, and placed the green bagged scallops and green bagged chicken feet on the corresponding shelves."}, {"start_frame": 1727, "end_frame": 1796, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot bent over, picked up green bagged chicken feet, green bagged scallops, orange packaged chicken feet, and white duck wing roots from the shopping cart, adjusted its posture, and placed the green bagged scallops and green bagged chicken feet on the corresponding shelves."}, {"start_frame": 1796, "end_frame": 1922, "action_text": "place the green duck wing root on the shelf", "skill": "Place", "language_memory": "The robot bent over, picked up green bagged chicken feet, green bagged scallops, orange packaged chicken feet, and white duck wing roots from the shopping cart, and placed the green bagged scallops and green bagged chicken feet on their corresponding shelves."}, {"start_frame": 1922, "end_frame": 2023, "action_text": "place the orange packaged chicken feet on the shelf", "skill": "Place", "language_memory": "The robot bent over, picked up green bagged chicken feet, green bagged scallops, orange packaged chicken feet, and white duck wing roots from the shopping cart, adjusted its posture, and placed the green bagged scallops, green bagged chicken feet, and green duck wing root on the corresponding shelves."}, {"start_frame": 2023, "end_frame": 2082, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot bent over, picked up green bagged chicken feet, green bagged scallops, orange packaged chicken feet, and white duck wing roots from the shopping cart, adjusted its posture, and placed the green bagged scallops, green duck wing root, orange packaged chicken feet, and white duck wing roots on the corresponding shelves."}], "detailed_task_instruction": ["Restock the bagged snacks by first bending over to pick up the green bagged chicken feet and green bagged scallops from the shopping cart. Adjust your posture, bend over again, and increase your height to place the green packaged scallops on the shelf. Decrease your height and bend over once more to place the green bagged chicken feet on the corresponding shelf. Next, bend over to pick up the orange packaged chicken feet and white duck wing roots from the shopping cart. Adjust your posture, rotate your waist, and place the green duck wing root on the shelf followed by the orange packaged chicken feet on the shelf. Finally, adjust your robot posture to complete the restocking process."]}
{"task_id": "task_3641", "episode_index": 26, "video_path": "task_3641/videos/chunk-000/{video_key}/episode_000026.mp4", "tasks": ["Restocking the bagged snack."], "length": 1838, "action_config": [{"start_frame": 97, "end_frame": 157, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 157, "end_frame": 344, "action_text": "pick up the red packaged pig trotter pieces from the shopping cart", "skill": "Pick", "language_memory": "The robot has bent over."}, {"start_frame": 344, "end_frame": 477, "action_text": "pick up the green bag of quail eggs from the shopping cart", "skill": "Pick", "language_memory": "The robot bent over and picked up the red packaged pig trotter pieces from the shopping cart."}, {"start_frame": 477, "end_frame": 533, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot bent over and picked up the red packaged pig trotter pieces and the green bag of quail eggs from the shopping cart."}, {"start_frame": 533, "end_frame": 598, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot bent over, picked up the red packaged pig trotter pieces and the green bag of quail eggs from the shopping cart, and adjusted its posture."}, {"start_frame": 598, "end_frame": 688, "action_text": "place the red packaged pig trotter pieces on the shelf", "skill": "Place", "language_memory": "The robot bent over, picked up the red packaged pig trotter pieces and the green bag of quail eggs from the shopping cart, adjusted its posture, and rotated its waist."}, {"start_frame": 688, "end_frame": 798, "action_text": "place the bagged green quail eggs on the shelf", "skill": "Place", "language_memory": "The robot bent over, picked up the red packaged pig trotter pieces and the green bag of quail eggs from the shopping cart, adjusted its posture, rotated its waist, and placed the red packaged pig trotter pieces on the shelf."}, {"start_frame": 798, "end_frame": 885, "action_text": "decrease height", "skill": "AdjustPosture", "language_memory": "The robot bent over, picked up the red packaged pig trotter pieces and the green bag of quail eggs from the shopping cart, adjusted its posture, rotated its waist, and placed both items on the shelf."}, {"start_frame": 885, "end_frame": 1297, "action_text": "pick up the green bagged scallops from the shopping cart", "skill": "Pick", "language_memory": "The robot bent over, picked up the red packaged pig trotter pieces and the green bag of quail eggs from the shopping cart, adjusted its posture and rotated its waist, and placed both items on the shelf before decreasing its height."}, {"start_frame": 1297, "end_frame": 1430, "action_text": "pick up the orange bagged chicken feet from the shopping cart", "skill": "Pick", "language_memory": "The robot bent over, rotated its waist, and adjusted its posture to pick up the red packaged pig trotter pieces, the green bag of quail eggs, and the green bagged scallops from the shopping cart, then placed the pig trotter pieces and quail eggs on the shelf."}, {"start_frame": 1430, "end_frame": 1485, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot bent over, rotated its waist, and adjusted its posture to pick up red packaged pig trotter pieces, a green bag of quail eggs, green bagged scallops, and orange bagged chicken feet from the shopping cart, then placed the pig trotter pieces and quail eggs on the shelf."}, {"start_frame": 1485, "end_frame": 1614, "action_text": "bend at the waist", "skill": "AdjustPosture", "language_memory": "The robot bent over, rotated its waist, and adjusted its posture to pick up red packaged pig trotter pieces, a green bag of quail eggs, green bagged scallops, and orange bagged chicken feet from the shopping cart, then placed the pig trotter pieces and quail eggs on the shelf before decreasing its height and adjusting its posture again."}, {"start_frame": 1614, "end_frame": 1695, "action_text": "place the green packaged scallops onto the shelf", "skill": "Place", "language_memory": "The robot has picked up and placed the red packaged pig trotter pieces, green bag of quail eggs, green bagged scallops, and orange bagged chicken feet on the shelf."}, {"start_frame": 1695, "end_frame": 1774, "action_text": "place the orange bagged chicken feet on the corresponding shelf", "skill": "Place", "language_memory": "The robot picked up red packaged pig trotter pieces, green bagged quail eggs, green bagged scallops, and orange bagged chicken feet from the shopping cart and placed them on the shelf."}, {"start_frame": 1774, "end_frame": 1837, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot has bent over, adjusted its posture, and rotated its waist to pick up red packaged pig trotter pieces, green bagged quail eggs, green bagged scallops, and orange bagged chicken feet from the shopping cart, subsequently placing all four items onto the shelf."}], "detailed_task_instruction": ["Restock the bagged snacks by first bending over to pick up the red packaged pig trotter pieces and the green bag of quail eggs from the shopping cart. Adjust your posture, rotate your waist, and place both items on the shelf. Next, decrease your height, adjust your posture again, and bend at the waist to pick up the green bagged scallops and the orange bagged chicken feet from the cart. Finally, adjust your posture one last time and place the green packaged scallops and the orange bagged chicken feet onto their corresponding shelves."]}
{"task_id": "task_3641", "episode_index": 27, "video_path": "task_3641/videos/chunk-000/{video_key}/episode_000027.mp4", "tasks": ["Restocking the bagged snack."], "length": 1744, "action_config": [{"start_frame": 99, "end_frame": 166, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 166, "end_frame": 338, "action_text": "pick up the white duck wing roots from the shopping cart", "skill": "Pick", "language_memory": "The robot has bent over."}, {"start_frame": 338, "end_frame": 645, "action_text": "pick up the yellow bagged eggs from the shopping cart", "skill": "Pick", "language_memory": "The robot bent over and picked up the white duck wing roots from the shopping cart."}, {"start_frame": 645, "end_frame": 693, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot has bent over and picked up the white duck wing roots and yellow bagged eggs from the shopping cart."}, {"start_frame": 693, "end_frame": 856, "action_text": "place the white packaged duck wing root on the shelf", "skill": "Place", "language_memory": "The robot bent over, picked up the white duck wing roots and yellow bagged eggs from the shopping cart, and adjusted its posture."}, {"start_frame": 856, "end_frame": 950, "action_text": "place the yellow bagged eggs onto the shelf", "skill": "Place", "language_memory": "The robot bent over, picked up white duck wing roots and yellow bagged eggs from the shopping cart, adjusted its posture, and placed the duck wing roots on the shelf."}, {"start_frame": 950, "end_frame": 1087, "action_text": "decrease height", "skill": "AdjustPosture", "language_memory": "The robot bent over, picked up white duck wing roots and yellow bagged eggs from the shopping cart, adjusted its posture, and placed both items onto the shelf."}, {"start_frame": 1087, "end_frame": 1217, "action_text": "pick up the yellow packaged pork trotter pieces from the shopping cart", "skill": "Pick", "language_memory": "The robot bent over, picked up white duck wing roots and yellow bagged eggs from the shopping cart, adjusted its posture, and placed both items onto the shelf before decreasing its height."}, {"start_frame": 1217, "end_frame": 1326, "action_text": "pick up the orange bag of chicken feet from the shopping cart", "skill": "Pick", "language_memory": "The robot bent over, adjusted its posture, decreased height, and picked up white duck wing roots, yellow bagged eggs, and yellow packaged pork trotter pieces from the shopping cart, then placed the duck wing roots and eggs onto the shelf."}, {"start_frame": 1326, "end_frame": 1397, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot bent over, adjusted its posture, decreased height, and picked up white duck wing roots, yellow bagged eggs, yellow packaged pork trotter pieces, and orange bagged chicken feet from the shopping cart, then placed the duck wing roots and yellow bagged eggs onto the shelf."}, {"start_frame": 1397, "end_frame": 1476, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot bent over, adjusted its posture, and picked up white duck wing roots, yellow bagged eggs, yellow packaged pork trotter pieces, and orange bagged chicken feet from the shopping cart before placing the duck wing roots and eggs onto the shelf."}, {"start_frame": 1476, "end_frame": 1577, "action_text": "place the yellow packaged pork trotter pieces on the shelf", "skill": "Place", "language_memory": "The robot has bent over, adjusted its posture, and rotated its waist to pick up white duck wing roots, yellow bagged eggs, yellow packaged pork trotter pieces, and orange bagged chicken feet from the shopping cart, subsequently placing the duck wing roots and yellow bagged eggs onto the shelf."}, {"start_frame": 1577, "end_frame": 1688, "action_text": "place the orange packaged chicken feet on the corresponding shelf position", "skill": "Place", "language_memory": "The robot has bent over, adjusted its posture, and rotated its waist to pick up white duck wing roots, yellow bagged eggs, yellow packaged pork trotter pieces, and orange bagged chicken feet from the shopping cart, subsequently placing the duck wing roots, eggs, and pork trotter pieces onto the shelf."}, {"start_frame": 1688, "end_frame": 1743, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot has bent over, adjusted its posture, and rotated its waist to pick up white duck wing roots, yellow bagged eggs, yellow packaged pork trotter pieces, and orange bagged chicken feet from the shopping cart, subsequently placing all these items onto the corresponding shelves."}], "detailed_task_instruction": ["Restock the bagged snacks by first bending over to pick up the white duck wing roots and yellow bagged eggs from the shopping cart, then adjusting your posture to place these items on the shelf. Next, decrease your height to retrieve the yellow packaged pork trotter pieces and the orange bag of chicken feet from the cart. Adjust your posture, rotate your waist, and place the yellow pork trotter pieces on the shelf followed by the orange chicken feet in their corresponding shelf positions. Finally, adjust your robot posture to complete the restocking process."]}
{"task_id": "task_3641", "episode_index": 28, "video_path": "task_3641/videos/chunk-000/{video_key}/episode_000028.mp4", "tasks": ["Restocking the bagged snack."], "length": 1844, "action_config": [{"start_frame": 100, "end_frame": 159, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 159, "end_frame": 298, "action_text": "pick up the orange packaged chicken feet from the shopping cart", "skill": "Pick", "language_memory": "The robot has bent over."}, {"start_frame": 298, "end_frame": 527, "action_text": "pick up the yellow packaged pig trotter pieces from the shopping cart", "skill": "Pick", "language_memory": "The robot bent over and picked up the orange packaged chicken feet from the shopping cart."}, {"start_frame": 527, "end_frame": 585, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot bent over and picked up orange packaged chicken feet and yellow packaged pig trotter pieces from the shopping cart."}, {"start_frame": 585, "end_frame": 779, "action_text": "place the yellow packaged pork trotter pieces on the shelf", "skill": "Place", "language_memory": "The robot bent over, picked up the orange packaged chicken feet and yellow packaged pig trotter pieces from the shopping cart, and adjusted its posture."}, {"start_frame": 779, "end_frame": 877, "action_text": "place the yellow bagged eggs onto the shelf", "skill": "Place", "language_memory": "The robot bent over, picked up the orange packaged chicken feet and yellow packaged pig trotter pieces from the shopping cart, adjusted its posture, and placed the yellow packaged pork trotter pieces on the shelf."}, {"start_frame": 877, "end_frame": 1015, "action_text": "decrease height", "skill": "AdjustPosture", "language_memory": "The robot bent over, picked up orange packaged chicken feet and yellow packaged pig trotter pieces from the shopping cart, adjusted its posture, and placed the yellow packaged pork trotter pieces and yellow bagged eggs onto the shelf."}, {"start_frame": 1015, "end_frame": 1141, "action_text": "pick up the red bag of quail eggs from the shopping cart", "skill": "Pick", "language_memory": "The robot bent over, picked up orange packaged chicken feet and yellow packaged pig trotter pieces from the shopping cart, adjusted its posture, and placed the yellow packaged pork trotter pieces and yellow bagged eggs onto the shelf before decreasing its height."}, {"start_frame": 1141, "end_frame": 1484, "action_text": "pick up the yellow packaged pig trotter pieces from the shopping cart", "skill": "Pick", "language_memory": "The robot bent over, adjusted its posture, decreased height, and picked up orange packaged chicken feet, yellow packaged pig trotter pieces, and a red bag of quail eggs from the shopping cart, while placing the yellow packaged pork trotter pieces and yellow bagged eggs onto the shelf."}, {"start_frame": 1484, "end_frame": 1524, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot bent over, adjusted its posture, decreased height, and picked up orange packaged chicken feet, yellow packaged pig trotter pieces, and a red bag of quail eggs from the shopping cart, while placing the yellow packaged pork trotter pieces and yellow bagged eggs onto the shelf."}, {"start_frame": 1524, "end_frame": 1604, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot bent over, adjusted its posture, decreased height, and picked up orange packaged chicken feet, yellow packaged pig trotter pieces, and a red bag of quail eggs from the shopping cart, while placing the yellow packaged pork trotter pieces and yellow bagged eggs onto the shelf."}, {"start_frame": 1604, "end_frame": 1687, "action_text": "place the yellow packaged pork trotter pieces on the shelf", "skill": "Place", "language_memory": "The robot bent over, adjusted its posture, and rotated its waist to pick up orange packaged chicken feet, yellow packaged pig trotter pieces, and a red bag of quail eggs from the shopping cart, then placed the yellow packaged pig trotter pieces and yellow bagged eggs onto the shelf."}, {"start_frame": 1687, "end_frame": 1779, "action_text": "place the red packaged quail eggs on the shelf", "skill": "Place", "language_memory": "The robot picked up orange packaged chicken feet, yellow packaged pig trotter pieces, and red bagged quail eggs from the shopping cart, and placed the yellow packaged pig trotter pieces and yellow bagged eggs onto the shelf."}, {"start_frame": 1779, "end_frame": 1843, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot picked up orange packaged chicken feet, yellow packaged pig trotter pieces, and red bagged quail eggs from the shopping cart, then placed the yellow packaged pig trotter pieces, yellow bagged eggs, and red packaged quail eggs onto the shelf."}], "detailed_task_instruction": ["Restock the bagged snacks by first bending over to pick up the orange packaged chicken feet and the yellow packaged pig trotter pieces from the shopping cart. Adjust your posture, decrease your height, and rotate your waist to access the shelf. Place the yellow packaged pig trotter pieces on the shelf, followed by the yellow bagged eggs. Then, pick up the red bag of quail eggs from the shopping cart, adjust your posture again, and place the red packaged quail eggs on the shelf to complete the restocking process."]}
{"task_id": "task_3641", "episode_index": 29, "video_path": "task_3641/videos/chunk-000/{video_key}/episode_000029.mp4", "tasks": ["Restocking the bagged snack."], "length": 2693, "action_config": [{"start_frame": 92, "end_frame": 154, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 154, "end_frame": 282, "action_text": "pick up the orange packaged chicken feet from the shopping cart", "skill": "Pick", "language_memory": "The robot has bent over."}, {"start_frame": 282, "end_frame": 634, "action_text": "pick up the orange bagged fish roe from the shopping cart", "skill": "Pick", "language_memory": "The robot bent over and picked up the orange packaged chicken feet from the shopping cart."}, {"start_frame": 634, "end_frame": 674, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot bent over and picked up the orange packaged chicken feet and the orange bagged fish roe from the shopping cart."}, {"start_frame": 674, "end_frame": 834, "action_text": "place the orange bagged fish roe on the shelf", "skill": "Place", "language_memory": "The robot bent over, picked up the orange packaged chicken feet and the orange bagged fish roe from the shopping cart, and adjusted its posture."}, {"start_frame": 834, "end_frame": 917, "action_text": "place the orange packaged chicken feet on the shelf", "skill": "Place", "language_memory": "The robot bent over, picked up the orange packaged chicken feet and the orange bagged fish roe from the shopping cart, adjusted its posture, and placed the orange bagged fish roe on the shelf."}, {"start_frame": 917, "end_frame": 997, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot bent over, picked up the orange packaged chicken feet and orange bagged fish roe from the shopping cart, adjusted its posture, and placed both items on the shelf."}, {"start_frame": 997, "end_frame": 1054, "action_text": "decrease height", "skill": "AdjustPosture", "language_memory": "The robot bent over, picked up orange packaged chicken feet and orange bagged fish roe from the shopping cart, adjusted its posture, placed both items on the shelf, and rotated its waist."}, {"start_frame": 1054, "end_frame": 1179, "action_text": "pick up the green bagged snack from the shopping cart", "skill": "Pick", "language_memory": "The robot bent over, picked up orange packaged chicken feet and orange bagged fish roe from the shopping cart, adjusted its posture, rotated its waist, decreased its height, and placed both items on the shelf."}, {"start_frame": 1179, "end_frame": 1346, "action_text": "pick up the white bagged snack from the shopping cart", "skill": "Pick", "language_memory": "The robot bent over, adjusted its posture, and rotated its waist to pick up orange packaged chicken feet, orange bagged fish roe, and a green bagged snack from the shopping cart, then placed the orange packaged chicken feet and orange bagged fish roe on the shelf."}, {"start_frame": 1346, "end_frame": 1397, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot bent over, adjusted its posture, and rotated its waist to pick up orange packaged chicken feet, orange bagged fish roe, a green bagged snack, and a white bagged snack from the shopping cart, then placed the orange packaged chicken feet and orange bagged fish roe on the shelf."}, {"start_frame": 1397, "end_frame": 1589, "action_text": "place the white packaged snacks onto the shelf", "skill": "Place", "language_memory": "The robot retrieved orange packaged chicken feet, orange bagged fish roe, a green bagged snack, and a white bagged snack from the shopping cart and placed the chicken feet and fish roe on the shelf."}, {"start_frame": 1589, "end_frame": 1700, "action_text": "place the green packaged snacks onto the shelf", "skill": "Place", "language_memory": "The robot picked up orange packaged chicken feet, orange bagged fish roe, green bagged snack, and white bagged snack from the shopping cart, and placed the orange packaged chicken feet, orange bagged fish roe, and white packaged snacks onto the shelf."}, {"start_frame": 1700, "end_frame": 1857, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot retrieved orange packaged chicken feet, orange bagged fish roe, green bagged snacks, and white bagged snacks from the shopping cart and placed all of them onto the shelf."}, {"start_frame": 1857, "end_frame": 2024, "action_text": "pick up the yellow packaged pork trotter pieces from the shopping cart", "skill": "Pick", "language_memory": "The robot has successfully restocked the shelf by placing orange packaged chicken feet, orange bagged fish roe, white bagged snacks, and green bagged snacks onto the shelf."}, {"start_frame": 2024, "end_frame": 2320, "action_text": "pick up the yellow packaged pig trotter pieces from the shopping cart", "skill": "Pick", "language_memory": "The robot has bent over, adjusted its posture, and rotated its waist to pick up orange packaged chicken feet, orange bagged fish roe, green bagged snack, white bagged snack, and yellow packaged pork trotter pieces from the shopping cart, subsequently placing the orange bagged fish roe, orange packaged chicken feet, white packaged snacks, and green packaged snacks onto the shelf."}, {"start_frame": 2320, "end_frame": 2376, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot has bent over, adjusted its posture, and rotated its waist to pick up and place multiple orange, green, white, and yellow packaged snacks from the shopping cart onto the shelf."}, {"start_frame": 2376, "end_frame": 2518, "action_text": "place the yellow packaged pork trotter pieces on the shelf", "skill": "Place", "language_memory": "The robot has successfully restocked the shelf with orange packaged chicken feet, orange bagged fish roe, white and green bagged snacks, and yellow packaged pork trotter pieces by picking them from the shopping cart and placing them on the shelf."}, {"start_frame": 2518, "end_frame": 2631, "action_text": "place the yellow packaged pork trotter pieces on the shelf", "skill": "Place", "language_memory": "The robot has successfully restocked the shelf with orange packaged chicken feet, orange bagged fish roe, white and green bagged snacks, and yellow packaged pork trotter pieces by picking them from the shopping cart and placing them on the shelf."}, {"start_frame": 2631, "end_frame": 2692, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot has successfully restocked the shelf with orange packaged chicken feet, orange bagged fish roe, green and white bagged snacks, and yellow packaged pork trotter pieces by picking them from the shopping cart and placing them on the shelf."}], "detailed_task_instruction": ["Restock the bagged snacks by first bending over to pick up the orange packaged chicken feet and the orange bagged fish roe from the shopping cart, then adjusting your posture to place the fish roe on the shelf followed by the chicken feet. Next, bend over again to retrieve the green and white bagged snacks, adjust your posture, and place the white snacks on the shelf before placing the green snacks. Finally, bend over to pick up the yellow packaged pork trotter pieces and the yellow packaged pig trotter pieces, adjust your posture, and place both yellow packages on the shelf to complete the restocking process."]}
{"task_id": "task_3641", "episode_index": 30, "video_path": "task_3641/videos/chunk-000/{video_key}/episode_000030.mp4", "tasks": ["Restocking the bagged snack."], "length": 1803, "action_config": [{"start_frame": 107, "end_frame": 165, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 165, "end_frame": 327, "action_text": "pick up the yellow packaged pig trotter pieces from the shopping cart", "skill": "Pick", "language_memory": "The robot has bent over."}, {"start_frame": 327, "end_frame": 466, "action_text": "pick up the orange packaged chicken feet from the shopping cart", "skill": "Pick", "language_memory": "The robot bent over and picked up the yellow packaged pig trotter pieces from the shopping cart."}, {"start_frame": 466, "end_frame": 518, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot bent over and picked up yellow packaged pig trotter pieces and orange packaged chicken feet from the shopping cart."}, {"start_frame": 518, "end_frame": 713, "action_text": "place the yellow packaged pig trotter pieces on the shelf", "skill": "Place", "language_memory": "The robot bent over, picked up the yellow packaged pig trotter pieces and the orange packaged chicken feet from the shopping cart, and adjusted its posture."}, {"start_frame": 713, "end_frame": 842, "action_text": "place the orange packaged chicken feet on the corresponding shelf position", "skill": "Place", "language_memory": "The robot bent over, picked up yellow packaged pig trotter pieces and orange packaged chicken feet from the shopping cart, adjusted its posture, and placed the pig trotter pieces on the shelf."}, {"start_frame": 842, "end_frame": 980, "action_text": "decrease height", "skill": "AdjustPosture", "language_memory": "The robot bent over, picked up yellow packaged pig trotter pieces and orange packaged chicken feet from the shopping cart, adjusted its posture, and placed both items on the shelf."}, {"start_frame": 980, "end_frame": 1185, "action_text": "pick up the white bagged snack from the shopping cart", "skill": "Pick", "language_memory": "The robot bent over, picked up yellow packaged pig trotter pieces and orange packaged chicken feet from the shopping cart, adjusted its posture, and placed both items on the shelf before decreasing its height."}, {"start_frame": 1185, "end_frame": 1331, "action_text": "pick up the orange packaged chicken feet from the shopping cart", "skill": "Pick", "language_memory": "The robot bent over, adjusted its posture, decreased height, and picked up yellow packaged pig trotter pieces, orange packaged chicken feet, and a white bagged snack from the shopping cart before placing the pig trotter pieces and chicken feet on the shelf."}, {"start_frame": 1331, "end_frame": 1387, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot bent over, adjusted its posture, and decreased height to pick up yellow packaged pig trotter pieces, orange packaged chicken feet, and a white bagged snack from the shopping cart, then placed the pig trotter pieces and one batch of chicken feet on the shelf."}, {"start_frame": 1387, "end_frame": 1510, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot picked up yellow packaged pig trotter pieces, orange packaged chicken feet, and a white bagged snack from the shopping cart and placed them on the shelf."}, {"start_frame": 1510, "end_frame": 1592, "action_text": "place the white packaged snacks onto the shelf", "skill": "Place", "language_memory": "The robot picked up yellow packaged pig trotter pieces, orange packaged chicken feet, and a white bagged snack from the shopping cart and placed them on the shelf."}, {"start_frame": 1592, "end_frame": 1717, "action_text": "place the orange packaged chicken feet on the shelf", "skill": "Place", "language_memory": "The robot picked up yellow packaged pig trotter pieces, orange packaged chicken feet, and white bagged snacks from the shopping cart and placed them on the corresponding shelf positions."}, {"start_frame": 1717, "end_frame": 1802, "action_text": "place the reset position", "skill": "Place", "language_memory": "The robot has picked up and placed yellow packaged pig trotter pieces, orange packaged chicken feet, and white bagged snacks onto the shelf."}], "detailed_task_instruction": ["Restock the bagged snacks by first bending over to pick up the yellow packaged pig trotter pieces and the orange packaged chicken feet from the shopping cart. Adjust your posture and place these items on their corresponding shelf positions. Next, decrease your height, bend over again, and pick up the white bagged snack along with another orange packaged chicken feet from the cart. Adjust your posture once more before placing the white bagged snack and the second orange packaged chicken feet onto the shelf. Finally, return to the reset position to complete the restocking process."]}
{"task_id": "task_3641", "episode_index": 31, "video_path": "task_3641/videos/chunk-000/{video_key}/episode_000031.mp4", "tasks": ["Restocking the bagged snack."], "length": 2098, "action_config": [{"start_frame": 109, "end_frame": 163, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 163, "end_frame": 295, "action_text": "pick up the orange packaged chicken feet from the shopping cart", "skill": "Pick", "language_memory": "The robot has bent over."}, {"start_frame": 295, "end_frame": 987, "action_text": "pick up the white bagged snack from the shopping cart", "skill": "Pick", "language_memory": "The robot bent over and picked up the orange packaged chicken feet from the shopping cart."}, {"start_frame": 987, "end_frame": 1039, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot bent over and picked up the orange packaged chicken feet and the white bagged snack from the shopping cart."}, {"start_frame": 1039, "end_frame": 1106, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot bent over, picked up the orange packaged chicken feet and the white bagged snack from the shopping cart, and adjusted its posture."}, {"start_frame": 1106, "end_frame": 1194, "action_text": "place the white bagged snacks onto the shelf", "skill": "Place", "language_memory": "The robot bent over, picked up the orange packaged chicken feet and the white bagged snack from the shopping cart, and adjusted its posture by rotating its waist."}, {"start_frame": 1194, "end_frame": 1318, "action_text": "place the orange packaged chicken feet on the shelf", "skill": "Place", "language_memory": "The robot bent over, picked up the orange packaged chicken feet and white bagged snacks from the shopping cart, adjusted its posture, rotated its waist, and placed the white bagged snacks onto the shelf."}, {"start_frame": 1318, "end_frame": 1443, "action_text": "decrease height", "skill": "AdjustPosture", "language_memory": "The robot bent over, picked up the orange packaged chicken feet and white bagged snacks from the shopping cart, adjusted its posture, rotated its waist, and placed both items onto the shelf."}, {"start_frame": 1443, "end_frame": 1581, "action_text": "pick up the red bagged snack from the shopping cart", "skill": "Pick", "language_memory": "The robot picked up the orange packaged chicken feet and white bagged snacks from the shopping cart and placed them onto the shelf."}, {"start_frame": 1581, "end_frame": 1730, "action_text": "pick up the red bag of quail eggs from the shopping cart", "skill": "Pick", "language_memory": "The robot bent over, adjusted its posture, and rotated its waist to pick up orange packaged chicken feet, white bagged snacks, and a red bagged snack from the shopping cart, then placed the white bagged snacks and orange packaged chicken feet onto the shelf."}, {"start_frame": 1730, "end_frame": 1782, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot has picked up orange packaged chicken feet, white bagged snacks, red bagged snacks, and red bags of quail eggs from the shopping cart, adjusted its posture, and placed the white bagged snacks and orange packaged chicken feet onto the shelf."}, {"start_frame": 1782, "end_frame": 1842, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up and placed the orange packaged chicken feet, white bagged snacks, red bagged snack, and red bag of quail eggs onto the shelf."}, {"start_frame": 1842, "end_frame": 1943, "action_text": "place the red packaged snacks on the shelf", "skill": "Place", "language_memory": "The robot has bent over, rotated its waist, and adjusted its posture to pick up and place orange packaged chicken feet, white bagged snacks, red bagged snacks, and red bags of quail eggs onto the shelf."}, {"start_frame": 1943, "end_frame": 2031, "action_text": "place the red packaged quail eggs on the shelf", "skill": "Place", "language_memory": "The robot has restocked the shelf with white bagged snacks, orange packaged chicken feet, and red bagged snacks and quail eggs."}, {"start_frame": 2031, "end_frame": 2097, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot has restocked the shelf with orange packaged chicken feet, white bagged snacks, red bagged snacks, and red packaged quail eggs."}], "detailed_task_instruction": ["Restock the shelf by first bending over to pick up the orange packaged chicken feet and the white bagged snack from the shopping cart. Adjust your posture and rotate your waist to place the white bagged snacks onto the shelf, followed by placing the orange packaged chicken feet on the shelf. Next, decrease your height to pick up the red bagged snack and the red bag of quail eggs from the shopping cart. Adjust your posture and rotate your waist again to place the red packaged snacks on the shelf, and finally, place the red packaged quail eggs on the shelf."]}
{"task_id": "task_3641", "episode_index": 32, "video_path": "task_3641/videos/chunk-000/{video_key}/episode_000032.mp4", "tasks": ["Restocking the bagged snack."], "length": 1629, "action_config": [{"start_frame": 94, "end_frame": 157, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 157, "end_frame": 269, "action_text": "pick up the red bagged snack from the shopping cart", "skill": "Pick", "language_memory": "The robot has bent over."}, {"start_frame": 269, "end_frame": 429, "action_text": "pick up the green bagged snack from the shopping cart", "skill": "Pick", "language_memory": "The robot bent over and picked up the red bagged snack from the shopping cart."}, {"start_frame": 429, "end_frame": 472, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot has bent over and picked up the red and green bagged snacks from the shopping cart."}, {"start_frame": 472, "end_frame": 669, "action_text": "place the red packaged snacks onto the shelf", "skill": "Place", "language_memory": "The robot bent over, picked up the red and green bagged snacks from the shopping cart, and adjusted its posture."}, {"start_frame": 669, "end_frame": 830, "action_text": "place the green packaged snacks onto the shelf", "skill": "Place", "language_memory": "The robot bent over, picked up red and green bagged snacks from the shopping cart, adjusted its posture, and placed the red packaged snacks onto the shelf."}, {"start_frame": 830, "end_frame": 965, "action_text": "decrease height", "skill": "AdjustPosture", "language_memory": "The robot bent over, picked up red and green bagged snacks from the shopping cart, adjusted its posture, and placed both types of snacks onto the shelf."}, {"start_frame": 965, "end_frame": 1094, "action_text": "pick up the orange packaged chicken feet from the shopping cart", "skill": "Pick", "language_memory": "The robot bent over, picked up red and green bagged snacks from the shopping cart, adjusted its posture, and placed both snacks onto the shelf before decreasing its height."}, {"start_frame": 1094, "end_frame": 1275, "action_text": "pick up the yellow bagged snack from the shopping cart", "skill": "Pick", "language_memory": "The robot bent over, picked up red, green, and orange bagged snacks from the shopping cart, adjusted its posture, and placed the red and green packaged snacks onto the shelf."}, {"start_frame": 1275, "end_frame": 1322, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot bent over, adjusted its posture, decreased height, and picked up red, green, orange, and yellow bagged snacks from the shopping cart, then placed the red and green packaged snacks onto the shelf."}, {"start_frame": 1322, "end_frame": 1492, "action_text": "place the yellow packaged snacks on the shelf", "skill": "Place", "language_memory": "The robot bent over, picked up red, green, orange, and yellow bagged snacks from the shopping cart, adjusted its posture, and placed the red, green, and orange packaged items onto the shelf."}, {"start_frame": 1492, "end_frame": 1570, "action_text": "place the orange packaged chicken feet on the shelf", "skill": "Place", "language_memory": "The robot picked up red, green, yellow, and orange packaged snacks from the shopping cart and placed them onto the shelf."}, {"start_frame": 1570, "end_frame": 1628, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot bent over, adjusted its posture, decreased height, and picked up red, green, orange, and yellow bagged snacks along with orange chicken feet from the shopping cart, subsequently placing all of them onto the shelf."}], "detailed_task_instruction": ["Restock the bagged snacks and packaged items by first bending over to pick up the red and green bagged snacks from the shopping cart, then adjusting your posture to place them onto the shelf. Next, decrease your height to retrieve the orange packaged chicken feet and the yellow bagged snack from the cart. After adjusting your posture again, place the yellow packaged snacks on the shelf, followed by placing the orange packaged chicken feet on the shelf to complete the restocking process."]}
{"task_id": "task_3641", "episode_index": 33, "video_path": "task_3641/videos/chunk-000/{video_key}/episode_000033.mp4", "tasks": ["Restocking the bagged snack."], "length": 1773, "action_config": [{"start_frame": 37, "end_frame": 126, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 126, "end_frame": 182, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot rotated its waist."}, {"start_frame": 182, "end_frame": 296, "action_text": "pick up the white bagged snack from the shopping cart", "skill": "Pick", "language_memory": "The robot rotated its waist and bent over."}, {"start_frame": 296, "end_frame": 442, "action_text": "pick up the red bagged snack from the shopping cart", "skill": "Pick", "language_memory": "The robot rotated its waist, bent over, and picked up the white bagged snack from the shopping cart."}, {"start_frame": 442, "end_frame": 472, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot rotated its waist, bent over, and picked up white and red bagged snacks from the shopping cart."}, {"start_frame": 472, "end_frame": 643, "action_text": "place the red packaged snacks on the shelf", "skill": "Place", "language_memory": "The robot rotated its waist, bent over, picked up white and red bagged snacks from the shopping cart, and adjusted its posture."}, {"start_frame": 643, "end_frame": 753, "action_text": "hand over the white bagged snack", "skill": "Handover", "language_memory": "The robot rotated its waist, bent over, and picked up white and red bagged snacks from the shopping cart before adjusting its posture and placing the red packaged snacks on the shelf."}, {"start_frame": 753, "end_frame": 874, "action_text": "place the white packaged snacks on the shelf", "skill": "Place", "language_memory": "The robot rotated its waist, bent over, and picked up white and red bagged snacks from the shopping cart, adjusted its posture, placed the red snacks on the shelf, and handed over the white bagged snack."}, {"start_frame": 874, "end_frame": 934, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot rotated its waist, bent over, and adjusted its posture to pick up white and red bagged snacks from the shopping cart, then handed over the white snack and placed both the red and white packaged snacks on the shelf."}, {"start_frame": 934, "end_frame": 1003, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot rotated its waist, bent over, picked up white and red bagged snacks from the shopping cart, adjusted its posture, handed over the white bagged snack, and placed both red and white packaged snacks on the shelf."}, {"start_frame": 1003, "end_frame": 1133, "action_text": "pick up the black bagged eggs from the shopping cart", "skill": "Pick", "language_memory": "The robot rotated its waist, bent over, picked up white and red bagged snacks from the shopping cart, adjusted its posture, handed over the white bagged snack, and placed both red and white packaged snacks on the shelf."}, {"start_frame": 1133, "end_frame": 1376, "action_text": "pick up the white bagged snack from the shopping cart", "skill": "Pick", "language_memory": "The robot rotated its waist, bent over, and picked up white bagged snacks, red bagged snacks, and black bagged eggs from the shopping cart; it then adjusted its posture, handed over the white bagged snack, and placed both the red and white packaged snacks on the shelf."}, {"start_frame": 1376, "end_frame": 1423, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot rotated its waist, bent over, and picked up white bagged snacks, a red bagged snack, and black bagged eggs from the shopping cart; it then adjusted its posture, handed over a white bagged snack, and placed both red and white packaged snacks on the shelf."}, {"start_frame": 1423, "end_frame": 1444, "action_text": "pick up the red packaged pig trotter pieces from the shopping cart", "skill": "Pick", "language_memory": "The robot rotated its waist, bent over, and adjusted its posture to pick up and place white, red, and black bagged items from the shopping cart onto the shelf, including handing over the white bagged snack."}, {"start_frame": 1444, "end_frame": 1596, "action_text": "place the white packaged snacks on the shelf", "skill": "Place", "language_memory": "The robot rotated its waist, bent over, adjusted its posture, and picked up white bagged snacks, red bagged snacks, black bagged eggs, and red packaged pig trotter pieces from the shopping cart, then placed the red and white packaged snacks on the shelf and handed over the white bagged snack."}, {"start_frame": 1596, "end_frame": 1705, "action_text": "place the black bag of eggs on the shelf", "skill": "Place", "language_memory": "The robot rotated its waist, bent over, and adjusted its posture multiple times to pick up and place white bagged snacks, red bagged snacks, black bagged eggs, and red packaged pig trotter pieces onto the shelf, while also handing over a white bagged snack."}, {"start_frame": 1705, "end_frame": 1772, "action_text": "place the reset position", "skill": "Place", "language_memory": "The robot rotated its waist, bent over, and adjusted its posture multiple times to pick up and place white bagged snacks, red bagged snacks, black bagged eggs, and red packaged pig trotter pieces onto the shelf."}], "detailed_task_instruction": ["Restock the shelf by first rotating your waist and bending over to pick up the white bagged snack and red bagged snack from the shopping cart. Adjust your posture, then place the red packaged snacks on the shelf and hand over the white bagged snack. Rotate your waist, bend over again, and pick up the black bagged eggs, another white bagged snack, and the red packaged pig trotter pieces from the cart. Adjust your posture once more, then place the white packaged snacks, the black bag of eggs, and the red packaged pig trotter pieces onto the shelf. Finally, return to your reset position."]}
{"task_id": "task_3641", "episode_index": 34, "video_path": "task_3641/videos/chunk-000/{video_key}/episode_000034.mp4", "tasks": ["Restocking the bagged snack."], "length": 1871, "action_config": [{"start_frame": 96, "end_frame": 139, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 139, "end_frame": 313, "action_text": "pick up the white bagged snack from the shopping cart", "skill": "Pick", "language_memory": "The robot has bent over."}, {"start_frame": 313, "end_frame": 472, "action_text": "pick up the green packaged duck feet from the shopping cart", "skill": "Pick", "language_memory": "The robot bent over and picked up the white bagged snack from the shopping cart."}, {"start_frame": 472, "end_frame": 522, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot has bent over and picked up the white bagged snack and green packaged duck feet from the shopping cart."}, {"start_frame": 522, "end_frame": 684, "action_text": "place the green packaged duck feet on the shelf", "skill": "Place", "language_memory": "The robot bent over, picked up the white bagged snack and the green packaged duck feet from the shopping cart, and adjusted its posture."}, {"start_frame": 684, "end_frame": 793, "action_text": "place the white packaged snacks on the shelf", "skill": "Place", "language_memory": "The robot bent over, picked up a white bagged snack and green packaged duck feet from the shopping cart, adjusted its posture, and placed the duck feet on the shelf."}, {"start_frame": 793, "end_frame": 914, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot bent over, picked up a white bagged snack and green packaged duck feet from the shopping cart, adjusted its posture, and placed both items on the shelf."}, {"start_frame": 914, "end_frame": 1090, "action_text": "pick up the green bagged snack from the shopping cart", "skill": "Pick", "language_memory": "The robot bent over, picked up a white bagged snack and green packaged duck feet from the shopping cart, adjusted its posture, and placed both items on the shelf."}, {"start_frame": 1090, "end_frame": 1403, "action_text": "pick up the yellow bagged eggs from the shopping cart", "skill": "Pick", "language_memory": "The robot bent over, picked up white bagged snacks and green packaged duck feet from the shopping cart, adjusted its posture, and placed the green packaged duck feet and white bagged snacks on the shelf."}, {"start_frame": 1403, "end_frame": 1461, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot bent over, picked up white bagged snacks, green packaged duck feet, green bagged snacks, and yellow bagged eggs from the shopping cart, adjusted its posture, and placed the green packaged duck feet and white bagged snacks on the shelf."}, {"start_frame": 1461, "end_frame": 1659, "action_text": "place the green packaged snacks onto the shelf", "skill": "Place", "language_memory": "The robot bent over, picked up white bagged snacks, green packaged duck feet, green bagged snacks, and yellow bagged eggs from the shopping cart, adjusted its posture, and placed the green packaged duck feet, white bagged snacks, and green bagged snacks on the shelf."}, {"start_frame": 1659, "end_frame": 1759, "action_text": "place the yellow packaged eggs onto the shelf", "skill": "Place", "language_memory": "The robot has picked up white bagged snacks, green packaged duck feet, green bagged snacks, and yellow bagged eggs from the shopping cart and placed them on the shelf."}, {"start_frame": 1759, "end_frame": 1870, "action_text": "place the reset position", "skill": "Place", "language_memory": "The robot has restocked the shelf with white bagged snacks, green packaged duck feet, green bagged snacks, and yellow bagged eggs by picking them from the shopping cart and placing them on the shelf."}], "detailed_task_instruction": ["Restock the shelf by first bending over to pick up the white bagged snack and the green packaged duck feet from the shopping cart, then adjusting your posture to place the duck feet on the shelf followed by the white bagged snack. Next, bend over again to retrieve the green bagged snack and the yellow bagged eggs from the cart, adjust your posture, and place the green bagged snack and the yellow bagged eggs onto the shelf. Finally, return to the reset position."]}
{"task_id": "task_3641", "episode_index": 35, "video_path": "task_3641/videos/chunk-000/{video_key}/episode_000035.mp4", "tasks": ["Restocking the bagged snack."], "length": 2181, "action_config": [{"start_frame": 0, "end_frame": 84, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 84, "end_frame": 136, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot rotated its waist."}, {"start_frame": 136, "end_frame": 296, "action_text": "pick up the red bagged snack from the shopping cart", "skill": "Pick", "language_memory": "The robot rotated its waist and bent over."}, {"start_frame": 296, "end_frame": 424, "action_text": "pick up the green bagged chicken feet from the shopping cart", "skill": "Pick", "language_memory": "The robot rotated its waist, bent over, and picked up the red bagged snack from the shopping cart."}, {"start_frame": 424, "end_frame": 483, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot rotated its waist, bent over, and picked up the red bagged snack and green bagged chicken feet from the shopping cart."}, {"start_frame": 483, "end_frame": 689, "action_text": "place the red packaged snacks on the shelf", "skill": "Place", "language_memory": "The robot rotated its waist, bent over, picked up the red bagged snack and green bagged chicken feet from the shopping cart, and adjusted its posture."}, {"start_frame": 689, "end_frame": 773, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot rotated its waist, bent over, and picked up red and green bagged snacks from the shopping cart before adjusting its posture and placing the red packaged snacks on the shelf."}, {"start_frame": 773, "end_frame": 847, "action_text": "hand over the green bag of chicken feet", "skill": "Handover", "language_memory": "The robot rotated its waist, bent over, and picked up red and green bagged snacks from the shopping cart before adjusting its posture and placing the red packaged snacks on the shelf."}, {"start_frame": 847, "end_frame": 1021, "action_text": "place the green packaged chicken feet on the shelf", "skill": "Place", "language_memory": "The robot rotated its waist, bent over, picked up red bagged snacks and green bagged chicken feet from the shopping cart, adjusted its posture, placed the red snacks on the shelf, and handed over the green bag of chicken feet."}, {"start_frame": 1021, "end_frame": 1101, "action_text": "decrease height", "skill": "AdjustPosture", "language_memory": "The robot rotated its waist, bent over, and picked up red bagged snacks and green bagged chicken feet from the shopping cart, then placed both items on the shelf."}, {"start_frame": 1101, "end_frame": 1226, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot rotated its waist, adjusted its posture, and decreased its height to pick up red bagged snacks and green bagged chicken feet from the shopping cart, then placed both items on the shelf."}, {"start_frame": 1226, "end_frame": 1519, "action_text": "pick up the orange packaged snack from the shopping cart", "skill": "Pick", "language_memory": "The robot rotated its waist, adjusted its posture, and decreased its height to pick up red bagged snacks and green bagged chicken feet from the shopping cart, then placed both items on the shelf."}, {"start_frame": 1519, "end_frame": 1813, "action_text": "pick up the orange bag of chicken feet from the shopping cart", "skill": "Pick", "language_memory": "The robot rotated its waist, adjusted its posture, and decreased its height to pick up red, green, and orange bagged snacks from the shopping cart, subsequently placing the red and green packaged items on the shelf."}, {"start_frame": 1813, "end_frame": 1865, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot rotated its waist, adjusted its posture, and decreased its height to pick up red, green, and orange bagged snacks and chicken feet from the shopping cart, then placed the red and green items on the shelf while handing over the green bag."}, {"start_frame": 1865, "end_frame": 2016, "action_text": "place the orange-bagged fish snacks on the shelf", "skill": "Place", "language_memory": "The robot rotated its waist, bent over, and adjusted its posture to pick up red, green, and orange bagged snacks and chicken feet from the shopping cart, then placed the red and green items on the shelf while handing over the green bag."}, {"start_frame": 2016, "end_frame": 2121, "action_text": "place the orange packaged chicken feet on the shelf", "skill": "Place", "language_memory": "The robot rotated its waist, adjusted its posture, and bent over to pick up red, green, and orange bagged snacks and chicken feet from the shopping cart, subsequently placing all of them on the shelf."}, {"start_frame": 2121, "end_frame": 2180, "action_text": "place the reset position", "skill": "Place", "language_memory": "The robot rotated its waist, adjusted its posture, and bent over to pick up red, green, and orange bagged snacks and chicken feet from the shopping cart, subsequently placing all of them on the shelf."}], "detailed_task_instruction": ["Rotate the waist and bend over to pick up the red bagged snack and the green bagged chicken feet from the shopping cart. Adjust the robot posture and place the red packaged snacks on the shelf. Bend over again, hand over the green bag of chicken feet, and place the green packaged chicken feet on the shelf. Decrease height, bend over, and pick up the orange packaged snack and the orange bag of chicken feet from the shopping cart. Adjust the robot posture, place the orange-bagged fish snacks on the shelf, and place the orange packaged chicken feet on the shelf. Finally, return to the reset position."]}
{"task_id": "task_3641", "episode_index": 36, "video_path": "task_3641/videos/chunk-000/{video_key}/episode_000036.mp4", "tasks": ["Restocking the bagged snack."], "length": 1739, "action_config": [{"start_frame": 66, "end_frame": 143, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 143, "end_frame": 189, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot rotated its waist."}, {"start_frame": 189, "end_frame": 370, "action_text": "pick up the red packaged snack from the shopping cart", "skill": "Pick", "language_memory": "The robot rotated its waist and bent over."}, {"start_frame": 370, "end_frame": 493, "action_text": "pick up the black bagged eggs from the shopping cart", "skill": "Pick", "language_memory": "The robot rotated its waist, bent over, and picked up the red packaged snack from the shopping cart."}, {"start_frame": 493, "end_frame": 542, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot rotated its waist, bent over, and picked up the red packaged snack and black bagged eggs from the shopping cart."}, {"start_frame": 542, "end_frame": 709, "action_text": "place the red packaged snacks on the shelf", "skill": "Place", "language_memory": "The robot rotated its waist, bent over, picked up the red packaged snack and black bagged eggs from the shopping cart, and adjusted its posture."}, {"start_frame": 709, "end_frame": 801, "action_text": "place the black bag of eggs on the shelf", "skill": "Place", "language_memory": "The robot rotated its waist, bent over, and picked up red packaged snacks and black bagged eggs from the shopping cart before adjusting its posture and placing the red packaged snacks on the shelf."}, {"start_frame": 801, "end_frame": 928, "action_text": "decrease height", "skill": "AdjustPosture", "language_memory": "The robot rotated its waist, bent over, and adjusted its posture to pick up red packaged snacks and black bagged eggs from the shopping cart, subsequently placing both items on the shelf."}, {"start_frame": 928, "end_frame": 1050, "action_text": "pick up the black bagged eggs from the shopping cart", "skill": "Pick", "language_memory": "The robot rotated its waist, bent over, and adjusted its posture to pick up red packaged snacks and black bagged eggs from the shopping cart, then placed both items on the shelf before decreasing its height."}, {"start_frame": 1050, "end_frame": 1291, "action_text": "pick up the white bagged snack from the shopping cart", "skill": "Pick", "language_memory": "The robot rotated its waist, bent over, and adjusted its posture to pick up red packaged snacks and black bagged eggs from the shopping cart, then placed the red snacks and one black bag of eggs on the shelf before decreasing its height and picking up another black bag of eggs."}, {"start_frame": 1291, "end_frame": 1337, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot rotated its waist, adjusted its posture, and decreased its height to pick up red packaged snacks, black bagged eggs, and a white bagged snack from the shopping cart, subsequently placing the red snacks and black eggs on the shelf."}, {"start_frame": 1337, "end_frame": 1525, "action_text": "place the black bag of eggs on the shelf", "skill": "Place", "language_memory": "The robot rotated its waist, bent over, and adjusted its posture to pick up red packaged snacks, black bagged eggs, and white bagged snacks from the shopping cart, subsequently placing the red snacks and black eggs on the shelf."}, {"start_frame": 1525, "end_frame": 1690, "action_text": "place the white packaged snacks on the shelf", "skill": "Place", "language_memory": "The robot rotated its waist, adjusted its posture, and decreased its height to pick up red packaged snacks, black bagged eggs, and white bagged snacks from the shopping cart, subsequently placing all items onto the shelf."}, {"start_frame": 1690, "end_frame": 1738, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot rotated its waist, adjusted its posture, and decreased its height to pick up red packaged snacks, black bagged eggs, and white bagged snacks from the shopping cart, subsequently placing all three items onto the shelf."}], "detailed_task_instruction": ["Restock the bagged snacks by first rotating your waist and bending over to pick up the red packaged snack and the black bagged eggs from the shopping cart. Adjust your posture, then place the red packaged snacks on the shelf. Next, decrease your height to pick up the black bagged eggs again, adjust your posture, and place the black bag of eggs on the shelf. Finally, adjust your posture once more to pick up the white bagged snack from the shopping cart and place the white packaged snacks on the shelf."]}
{"task_id": "task_3641", "episode_index": 37, "video_path": "task_3641/videos/chunk-000/{video_key}/episode_000037.mp4", "tasks": ["Restocking the bagged snack."], "length": 1994, "action_config": [{"start_frame": 87, "end_frame": 146, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 146, "end_frame": 286, "action_text": "pick up the white bagged snack from the shopping cart", "skill": "Pick", "language_memory": "The robot has bent over."}, {"start_frame": 286, "end_frame": 382, "action_text": "hand over the white bag of snacks", "skill": "Handover", "language_memory": "The robot bent over and picked up the white bagged snack from the shopping cart."}, {"start_frame": 382, "end_frame": 502, "action_text": "pick up the white bagged snack from the shopping cart", "skill": "Pick", "language_memory": "The robot bent over, picked up the white bagged snack from the shopping cart, and handed it over."}, {"start_frame": 502, "end_frame": 553, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot bent over, picked up two white bagged snacks from the shopping cart, and handed one over."}, {"start_frame": 553, "end_frame": 780, "action_text": "place the white packaged snacks on the shelf", "skill": "Place", "language_memory": "The robot bent over, picked up two white bagged snacks from the shopping cart, handed one over, and adjusted its posture."}, {"start_frame": 780, "end_frame": 831, "action_text": "hand over the white bagged snack", "skill": "Handover", "language_memory": "The robot bent over, picked up white bagged snacks from the shopping cart, handed one over, and placed the remaining white packaged snacks on the shelf."}, {"start_frame": 831, "end_frame": 965, "action_text": "place the white packaged snacks on the shelf", "skill": "Place", "language_memory": "The robot picked up white bagged snacks from the shopping cart and placed them on the shelf."}, {"start_frame": 965, "end_frame": 1110, "action_text": "decrease height", "skill": "AdjustPosture", "language_memory": "The robot picked up white bagged snacks from the shopping cart and placed them on the shelf."}, {"start_frame": 1110, "end_frame": 1223, "action_text": "pick up the red bagged snack from the shopping cart", "skill": "Pick", "language_memory": "The robot picked up white bagged snacks from the shopping cart and placed them on the shelf."}, {"start_frame": 1223, "end_frame": 1375, "action_text": "hand over the red bagged snack", "skill": "Handover", "language_memory": "The robot bent over, picked up white and red bagged snacks from the shopping cart, handed them over, and placed the white packaged snacks on the shelf."}, {"start_frame": 1375, "end_frame": 1482, "action_text": "pick up the red bagged snack from the shopping cart", "skill": "Pick", "language_memory": "The robot picked up white and red bagged snacks from the shopping cart and placed them on the shelf."}, {"start_frame": 1482, "end_frame": 1547, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot has picked up and placed multiple white and red bagged snacks onto the shelf."}, {"start_frame": 1547, "end_frame": 1623, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up and placed multiple white and red bagged snacks onto the shelf."}, {"start_frame": 1623, "end_frame": 1753, "action_text": "place the red packaged snacks on the shelf", "skill": "Place", "language_memory": "The robot has picked up and placed multiple white and red bagged snacks onto the shelf."}, {"start_frame": 1753, "end_frame": 1912, "action_text": "place the red packaged snacks onto the shelf", "skill": "Place", "language_memory": "The robot picked up white and red bagged snacks from the shopping cart and placed them on the shelf."}, {"start_frame": 1912, "end_frame": 1993, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot picked up white and red bagged snacks from the shopping cart and placed them on the shelf."}], "detailed_task_instruction": ["Bend over and decrease your height to reach the shopping cart. Pick up the white bagged snack, adjust your posture, and hand it over to the robot. The robot will then place the white packaged snacks on the shelf. Next, pick up the red bagged snack from the cart, hand it over, and adjust your posture. The robot will rotate its waist and place the red packaged snacks onto the shelf. Finally, adjust your robot posture to complete the restocking of the bagged snacks."]}
{"task_id": "task_3641", "episode_index": 38, "video_path": "task_3641/videos/chunk-000/{video_key}/episode_000038.mp4", "tasks": ["Restocking the bagged snack."], "length": 2107, "action_config": [{"start_frame": 0, "end_frame": 98, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 98, "end_frame": 143, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot rotated its waist."}, {"start_frame": 143, "end_frame": 263, "action_text": "pick up the white bagged snack from the shopping cart", "skill": "Pick", "language_memory": "The robot rotated its waist and bent over."}, {"start_frame": 263, "end_frame": 368, "action_text": "hand over the white bagged snack", "skill": "Handover", "language_memory": "The robot rotated its waist, bent over, and picked up the white bagged snack from the shopping cart."}, {"start_frame": 368, "end_frame": 502, "action_text": "pick up the white bagged snack from the shopping cart", "skill": "Pick", "language_memory": "The robot rotated its waist, bent over, picked up a white bagged snack from the shopping cart, and handed it over."}, {"start_frame": 502, "end_frame": 549, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot rotated its waist, bent over, and picked up multiple white bagged snacks from the shopping cart before handing one over."}, {"start_frame": 549, "end_frame": 731, "action_text": "place the white packaged snacks on the shelf", "skill": "Place", "language_memory": "The robot rotated its waist, bent over, picked up and handed over a white bagged snack from the shopping cart, and adjusted its posture."}, {"start_frame": 731, "end_frame": 790, "action_text": "hand over the white bagged snack", "skill": "Handover", "language_memory": "The robot rotated its waist, bent over, picked up white bagged snacks from the shopping cart, handed one over, adjusted its posture, and placed the white packaged snacks on the shelf."}, {"start_frame": 790, "end_frame": 892, "action_text": "place the white bagged snack on the shelf", "skill": "Place", "language_memory": "The robot rotated its waist, bent over, adjusted its posture, picked up white bagged snacks from the shopping cart, handed them over, and placed the white packaged snacks on the shelf."}, {"start_frame": 892, "end_frame": 1027, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot rotated its waist, bent over, adjusted its posture, and successfully picked up and placed multiple white bagged snacks onto the shelf."}, {"start_frame": 1027, "end_frame": 1153, "action_text": "pick up the white bagged snack from the shopping cart", "skill": "Pick", "language_memory": "The robot rotated its waist, bent over, picked up white bagged snacks from the shopping cart, handed them over, adjusted its posture, and placed the white bagged snacks on the shelf."}, {"start_frame": 1153, "end_frame": 1253, "action_text": "hand over the white bagged snack", "skill": "Handover", "language_memory": "The robot rotated its waist, adjusted its posture, bent over, and repeatedly picked up white bagged snacks from the shopping cart to hand them over and place them on the shelf."}, {"start_frame": 1253, "end_frame": 1696, "action_text": "pick up the orange packaged chicken feet from the shopping cart", "skill": "Pick", "language_memory": "The robot has successfully retrieved multiple white bagged snacks from the shopping cart and placed them on the shelf."}, {"start_frame": 1696, "end_frame": 1746, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot rotated its waist, adjusted its posture, bent over, and repeatedly picked up white bagged snacks and orange packaged chicken feet from the shopping cart to hand them over and place them on the shelf."}, {"start_frame": 1746, "end_frame": 1910, "action_text": "place the orange packaged chicken feet on the shelf", "skill": "Place", "language_memory": "The robot rotated its waist, adjusted its posture, bent over, and repeatedly picked up white bagged snacks and orange packaged chicken feet from the shopping cart to hand them over and place them on the shelf."}, {"start_frame": 1910, "end_frame": 2045, "action_text": "place the white bagged snacks on the corresponding shelf", "skill": "Place", "language_memory": "The robot rotated its waist, adjusted its posture, bent over, and picked up white bagged snacks and orange packaged chicken feet from the shopping cart, handing them over and placing them on the shelf."}, {"start_frame": 2045, "end_frame": 2106, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot rotated its waist, adjusted its posture, bent over, and picked up multiple white bagged snacks and orange packaged chicken feet from the shopping cart, handing them over and placing all items on the corresponding shelf."}], "detailed_task_instruction": ["Restock the bagged snacks by first rotating your waist and bending over to pick up a white bagged snack from the shopping cart, then handing it over and adjusting your posture before placing it on the shelf. Repeat this sequence of bending, picking up another white bagged snack, handing it over, adjusting posture, and placing it on the shelf. Next, bend over again to pick up an orange packaged chicken feet item from the cart, hand it over, adjust your posture, and place it on the shelf. Finally, ensure all white bagged snacks are arranged on their corresponding shelves while maintaining proper posture adjustments throughout the process."]}
{"task_id": "task_3641", "episode_index": 39, "video_path": "task_3641/videos/chunk-000/{video_key}/episode_000039.mp4", "tasks": ["Restocking the bagged snack."], "length": 1745, "action_config": [{"start_frame": 81, "end_frame": 132, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 132, "end_frame": 278, "action_text": "pick up the white bagged snack from the shopping cart", "skill": "Pick", "language_memory": "The robot has bent over."}, {"start_frame": 278, "end_frame": 366, "action_text": "hand over the white bagged snack", "skill": "Handover", "language_memory": "The robot bent over and picked up the white bagged snack from the shopping cart."}, {"start_frame": 366, "end_frame": 485, "action_text": "pick up the green bagged snack from the shopping cart", "skill": "Pick", "language_memory": "The robot bent over, picked up a white bagged snack from the shopping cart, and handed it over."}, {"start_frame": 485, "end_frame": 539, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot bent over, picked up and handed over a white bagged snack, and picked up a green bagged snack from the shopping cart."}, {"start_frame": 539, "end_frame": 765, "action_text": "place the white packaged snacks on the shelf", "skill": "Place", "language_memory": "The robot bent over, picked up and handed over a white bagged snack, picked up a green bagged snack, and adjusted its posture."}, {"start_frame": 765, "end_frame": 850, "action_text": "place the green packaged snacks onto the shelf", "skill": "Place", "language_memory": "The robot bent over, picked up and handed over a white bagged snack, picked up a green bagged snack, adjusted its posture, and placed the white packaged snacks on the shelf."}, {"start_frame": 850, "end_frame": 978, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot bent over, picked up white and green bagged snacks from the shopping cart, handed over the white snack, adjusted its posture, and placed both white and green packaged snacks onto the shelf."}, {"start_frame": 978, "end_frame": 1083, "action_text": "pick up the white bagged snack from the shopping cart", "skill": "Pick", "language_memory": "The robot picked up white and green bagged snacks from the shopping cart and placed them on the shelf."}, {"start_frame": 1083, "end_frame": 1172, "action_text": "hand over the white bagged snack", "skill": "Handover", "language_memory": "The robot has picked up multiple white and green bagged snacks from the shopping cart, handed one over, and placed the remaining white and green packaged snacks onto the shelf."}, {"start_frame": 1172, "end_frame": 1315, "action_text": "pick up the black bagged eggs from the shopping cart", "skill": "Pick", "language_memory": "The robot picked up multiple white and green bagged snacks from the shopping cart, handed them over, and placed the white and green packaged snacks onto the shelf."}, {"start_frame": 1315, "end_frame": 1368, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot picked up white bagged snacks and a black bagged egg from the shopping cart, handed over the white bagged snacks, and placed the white and green packaged snacks onto the shelf."}, {"start_frame": 1368, "end_frame": 1524, "action_text": "place the black bag of eggs on the shelf", "skill": "Place", "language_memory": "The robot has restocked white bagged snacks, green bagged snacks, and black bagged eggs onto the shelf."}, {"start_frame": 1524, "end_frame": 1693, "action_text": "place the white packaged snacks on the shelf", "skill": "Place", "language_memory": "The robot has restocked the shelf with white bagged snacks, green bagged snacks, and a black bag of eggs by picking them from the shopping cart and placing them on the shelf."}, {"start_frame": 1693, "end_frame": 1744, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot has restocked the shelf with white bagged snacks, green bagged snacks, and a black bag of eggs by picking them from the shopping cart and placing them on the shelf."}], "detailed_task_instruction": ["Restock the bagged snacks by first bending over to pick up a white bagged snack from the shopping cart, handing it over, and placing it on the shelf. Next, pick up a green bagged snack from the cart, adjust your posture, and place it on the shelf. Then, bend over again to retrieve another white bagged snack, hand it over, and place it on the shelf. Finally, pick up a black bag of eggs from the cart, adjust your posture, and place the bag of eggs on the shelf."]}
{"task_id": "task_3641", "episode_index": 40, "video_path": "task_3641/videos/chunk-000/{video_key}/episode_000040.mp4", "tasks": ["Restocking the bagged snack."], "length": 2053, "action_config": [{"start_frame": 0, "end_frame": 109, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 109, "end_frame": 166, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot rotated its waist."}, {"start_frame": 166, "end_frame": 288, "action_text": "pick up the white bagged snack from the shopping cart", "skill": "Pick", "language_memory": "The robot rotated its waist and bent over."}, {"start_frame": 288, "end_frame": 370, "action_text": "hand over the white bagged snack", "skill": "Handover", "language_memory": "The robot rotated its waist, bent over, and picked up the white bagged snack from the shopping cart."}, {"start_frame": 370, "end_frame": 678, "action_text": "pick up the yellow bagged eggs from the shopping cart", "skill": "Pick", "language_memory": "The robot rotated its waist, bent over, picked up a white bagged snack from the shopping cart, and handed it over."}, {"start_frame": 678, "end_frame": 725, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot rotated its waist, bent over, picked up a white bagged snack and a yellow bagged egg from the shopping cart, and handed over the white bagged snack."}, {"start_frame": 725, "end_frame": 957, "action_text": "place the yellow bagged eggs onto the shelf", "skill": "Place", "language_memory": "The robot rotated its waist, bent over, picked up a white bagged snack and a yellow bagged egg from the shopping cart, handed over the white bagged snack, and adjusted its posture."}, {"start_frame": 957, "end_frame": 1100, "action_text": "place the white packaged snacks on the shelf", "skill": "Place", "language_memory": "The robot rotated its waist, bent over, picked up a white bagged snack and a yellow bagged egg from the shopping cart, handed over the white bagged snack, adjusted its posture, and placed the yellow bagged egg onto the shelf."}, {"start_frame": 1100, "end_frame": 1188, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot rotated its waist, bent over, picked up a white bagged snack and yellow bagged eggs from the shopping cart, adjusted its posture, and placed both items onto the shelf."}, {"start_frame": 1188, "end_frame": 1237, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot rotated its waist, bent over, picked up a white bagged snack and yellow bagged eggs from the shopping cart, handed over the white bagged snack, adjusted its posture, and placed both the yellow bagged eggs and white packaged snacks onto the shelf."}, {"start_frame": 1237, "end_frame": 1358, "action_text": "pick up the yellow bagged snack from the shopping cart", "skill": "Pick", "language_memory": "The robot rotated its waist, bent over, picked up white bagged snacks and yellow bagged eggs from the shopping cart, handed over the white bagged snack, adjusted its posture, and placed both the yellow bagged eggs and white packaged snacks onto the shelf."}, {"start_frame": 1358, "end_frame": 1482, "action_text": "hand over the yellow bagged snack", "skill": "Handover", "language_memory": "The robot rotated its waist, bent over, picked up white and yellow bagged snacks from the shopping cart, handed over the white bagged snack, adjusted its posture, placed the yellow bagged eggs and white packaged snacks onto the shelf, and picked up another yellow bagged snack."}, {"start_frame": 1482, "end_frame": 1613, "action_text": "pick up the green bagged snack from the shopping cart", "skill": "Pick", "language_memory": "The robot rotated its waist, bent over, and picked up white and yellow bagged snacks from the shopping cart, handed them over, adjusted its posture, and placed the yellow bagged eggs and white packaged snacks onto the shelf."}, {"start_frame": 1613, "end_frame": 1670, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot rotated its waist, bent over, and picked up white, yellow, and green bagged snacks from the shopping cart, handing over the white and yellow snacks before placing the yellow bagged eggs and white packaged snacks onto the shelf, while adjusting its posture and picking up the green bagged snack."}, {"start_frame": 1670, "end_frame": 1892, "action_text": "place the yellow packaged snacks onto the shelf", "skill": "Place", "language_memory": "The robot rotated its waist, bent over, and picked up white, yellow, and green bagged snacks from the shopping cart, handing them over and placing the white and yellow items onto the shelf before adjusting its posture and picking up the green bagged snack."}, {"start_frame": 1892, "end_frame": 1984, "action_text": "place the green packaged snacks onto the shelf", "skill": "Place", "language_memory": "The robot rotated its waist, bent over, and picked up white, yellow, and green bagged snacks from the shopping cart, handing them over and placing the yellow, white, and yellow packaged snacks onto the shelf while adjusting its posture multiple times."}, {"start_frame": 1984, "end_frame": 2052, "action_text": "place the reset position", "skill": "Place", "language_memory": "The robot rotated its waist, bent over, and picked up white, yellow, and green bagged snacks from the shopping cart, then handed them over and placed the corresponding packaged snacks onto the shelf while adjusting its posture."}], "detailed_task_instruction": ["Rotate the waist and bend over to pick up the white bagged snack from the shopping cart, then hand it over. Adjust the robot posture, bend over again, and pick up the yellow bagged eggs from the shopping cart before handing them over. Adjust the robot posture once more, bend over, and pick up the yellow bagged snack from the shopping cart, then hand it over. Finally, adjust the robot posture, pick up the green bagged snack from the shopping cart, and hand it over. Place the white packaged snacks, the yellow bagged eggs, the yellow bagged snack, and the green bagged snacks onto the shelf in that order. Conclude by placing the robot in the reset position."]}
{"task_id": "task_3641", "episode_index": 41, "video_path": "task_3641/videos/chunk-000/{video_key}/episode_000041.mp4", "tasks": ["Restocking the bagged snack."], "length": 1974, "action_config": [{"start_frame": 92, "end_frame": 145, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 145, "end_frame": 338, "action_text": "pick up the green bagged snack from the shopping cart", "skill": "Pick", "language_memory": "The robot has bent over."}, {"start_frame": 338, "end_frame": 437, "action_text": "hand over the green bagged snack", "skill": "Handover", "language_memory": "The robot bent over and picked up the green bagged snack from the shopping cart."}, {"start_frame": 437, "end_frame": 523, "action_text": "pick up the yellow bagged eggs from the shopping cart", "skill": "Pick", "language_memory": "The robot bent over, picked up the green bagged snack from the shopping cart, and handed it over."}, {"start_frame": 523, "end_frame": 571, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot bent over, picked up and handed over a green bagged snack, and picked up yellow bagged eggs from the shopping cart."}, {"start_frame": 571, "end_frame": 640, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot bent over, picked up and handed over a green bagged snack, picked up yellow bagged eggs from the shopping cart, and adjusted its posture."}, {"start_frame": 640, "end_frame": 817, "action_text": "place the green packaged snacks onto the shelf", "skill": "Place", "language_memory": "The robot bent over, picked up and handed over a green bagged snack, picked up yellow bagged eggs, and adjusted its posture by rotating the waist."}, {"start_frame": 817, "end_frame": 903, "action_text": "place the yellow bagged eggs onto the shelf", "skill": "Place", "language_memory": "The robot bent over, picked up and handed over a green bagged snack, picked up yellow bagged eggs, adjusted its posture, rotated its waist, and placed the green packaged snacks onto the shelf."}, {"start_frame": 903, "end_frame": 982, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot picked up green bagged snacks and yellow bagged eggs from the shopping cart and placed them onto the shelf."}, {"start_frame": 982, "end_frame": 1041, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot picked up green bagged snacks and yellow bagged eggs from the shopping cart and placed them onto the shelf."}, {"start_frame": 1041, "end_frame": 1338, "action_text": "pick up the white bagged snack from the shopping cart", "skill": "Pick", "language_memory": "The robot picked up green bagged snacks and yellow bagged eggs from the shopping cart and placed them onto the shelf."}, {"start_frame": 1338, "end_frame": 1428, "action_text": "hand over the white bagged snack", "skill": "Handover", "language_memory": "The robot picked up green bagged snacks, yellow bagged eggs, and a white bagged snack from the shopping cart, placed the green and yellow items onto the shelf, and is currently bending over to pick up the white bagged snack."}, {"start_frame": 1428, "end_frame": 1556, "action_text": "pick up the yellow bagged eggs from the shopping cart", "skill": "Pick", "language_memory": "The robot picked up green bagged snacks, yellow bagged eggs, and white bagged snacks from the shopping cart and placed them onto the shelf."}, {"start_frame": 1556, "end_frame": 1613, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot has successfully restocked the shelf with green bagged snacks, yellow bagged eggs, and white bagged snacks by picking them from the shopping cart and placing them on the shelf."}, {"start_frame": 1613, "end_frame": 1768, "action_text": "place the yellow bagged eggs onto the shelf", "skill": "Place", "language_memory": "The robot has successfully restocked the shelf with green bagged snacks, yellow bagged eggs, and white bagged snacks by picking them from the shopping cart and placing them on the shelf."}, {"start_frame": 1768, "end_frame": 1904, "action_text": "place the white packaged snacks onto the shelf", "skill": "Place", "language_memory": "The robot has restocked the shelf with green bagged snacks, yellow bagged eggs, and white bagged snacks by picking them up from the shopping cart and placing them on the shelf."}, {"start_frame": 1904, "end_frame": 1973, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot has restocked the shelf with green bagged snacks, yellow bagged eggs, and white bagged snacks by picking them up from the shopping cart and placing them on the shelf."}], "detailed_task_instruction": ["Restock the bagged snacks by first bending over to pick up the green bagged snack from the shopping cart, handing it over, and then placing it onto the shelf. Next, adjust your posture, rotate your waist, and bend over again to pick up the yellow bagged eggs from the cart, hand them over, and place them onto the shelf. Finally, adjust your posture, bend over to pick up the white bagged snack from the cart, hand it over, and place it onto the shelf. Ensure all items are correctly positioned on the shelf after each placement."]}
{"task_id": "task_3641", "episode_index": 42, "video_path": "task_3641/videos/chunk-000/{video_key}/episode_000042.mp4", "tasks": ["Restocking the bagged snack."], "length": 1878, "action_config": [{"start_frame": 93, "end_frame": 142, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 142, "end_frame": 288, "action_text": "pick up the green bagged snack from the shopping cart", "skill": "Pick", "language_memory": "The robot has bent over."}, {"start_frame": 288, "end_frame": 383, "action_text": "hand over the green bagged snack", "skill": "Handover", "language_memory": "The robot bent over and picked up the green bagged snack from the shopping cart."}, {"start_frame": 383, "end_frame": 669, "action_text": "pick up the yellow bagged snack from the shopping cart", "skill": "Pick", "language_memory": "The robot bent over, picked up the green bagged snack from the shopping cart, and handed it over."}, {"start_frame": 669, "end_frame": 706, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot bent over, picked up and handed over the green bagged snack, and picked up the yellow bagged snack from the shopping cart."}, {"start_frame": 706, "end_frame": 765, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot bent over, picked up and handed over the green bagged snack, picked up the yellow bagged snack, and adjusted its posture."}, {"start_frame": 765, "end_frame": 823, "action_text": "place the yellow packaged snacks on the shelf", "skill": "Place", "language_memory": "The robot bent over, picked up and handed over a green bagged snack, picked up a yellow bagged snack, and adjusted its posture by rotating the waist."}, {"start_frame": 823, "end_frame": 886, "action_text": "place the green packaged snacks onto the shelf", "skill": "Place", "language_memory": "The robot bent over, picked up and handed over a green bagged snack, picked up a yellow bagged snack, adjusted its posture, rotated its waist, and placed the yellow packaged snacks on the shelf."}, {"start_frame": 886, "end_frame": 955, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot picked up green and yellow bagged snacks from the shopping cart and placed them onto the shelf."}, {"start_frame": 955, "end_frame": 1001, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot picked up green and yellow bagged snacks from the shopping cart and placed them onto the shelf."}, {"start_frame": 1001, "end_frame": 1098, "action_text": "pick up the white bagged snack from the shopping cart", "skill": "Pick", "language_memory": "The robot picked up green and yellow bagged snacks from the shopping cart and placed them onto the shelf."}, {"start_frame": 1098, "end_frame": 1170, "action_text": "hand over the white bagged snack", "skill": "Handover", "language_memory": "The robot has picked up green, yellow, and white bagged snacks from the shopping cart and placed the green and yellow snacks onto the shelf."}, {"start_frame": 1170, "end_frame": 1515, "action_text": "pick up the yellow bagged snack from the shopping cart", "skill": "Pick", "language_memory": "The robot has picked up green, yellow, and white bagged snacks from the shopping cart and placed the green and yellow snacks onto the shelf."}, {"start_frame": 1515, "end_frame": 1560, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot has restocked the shelf with green, yellow, and white bagged snacks by picking them from the shopping cart and placing them on the shelf."}, {"start_frame": 1560, "end_frame": 1707, "action_text": "place the yellow packaged snack on the shelf", "skill": "Place", "language_memory": "The robot has restocked the shelf with green, yellow, and white bagged snacks by picking them from the shopping cart and placing them on the shelf, while adjusting its posture and rotating its waist throughout the process."}, {"start_frame": 1707, "end_frame": 1853, "action_text": "place the white packaged snacks on the shelf", "skill": "Place", "language_memory": "The robot has restocked the shelf with green, yellow, and white bagged snacks by picking them from the shopping cart and placing them on the shelf."}, {"start_frame": 1853, "end_frame": 1877, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot has restocked the shelf with green, yellow, and white bagged snacks by picking them up from the shopping cart and placing them on the shelf."}], "detailed_task_instruction": ["Restock the bagged snacks by first bending over to pick up the green bagged snack from the shopping cart and handing it over. Next, adjust your posture, rotate your waist, and place the yellow bagged snack on the shelf. Then, bend over again to pick up the white bagged snack from the shopping cart and hand it over. Finally, adjust your posture, pick up the second yellow bagged snack from the shopping cart, and place both the yellow and white packaged snacks onto the shelf to complete the restocking process."]}
{"task_id": "task_3641", "episode_index": 43, "video_path": "task_3641/videos/chunk-000/{video_key}/episode_000043.mp4", "tasks": ["Restocking the bagged snack."], "length": 2592, "action_config": [{"start_frame": 97, "end_frame": 147, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 147, "end_frame": 284, "action_text": "pick up the yellow bagged snack from the shopping cart", "skill": "Pick", "language_memory": "The robot has bent over."}, {"start_frame": 284, "end_frame": 373, "action_text": "hand over the yellow bagged snack", "skill": "Handover", "language_memory": "The robot bent over and picked up the yellow bagged snack from the shopping cart."}, {"start_frame": 373, "end_frame": 482, "action_text": "pick up the green bagged snack from the shopping cart", "skill": "Pick", "language_memory": "The robot bent over, picked up the yellow bagged snack from the shopping cart, and handed it over."}, {"start_frame": 482, "end_frame": 531, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot bent over, picked up and handed over the yellow bagged snack, and picked up the green bagged snack from the shopping cart."}, {"start_frame": 531, "end_frame": 664, "action_text": "place the green packaged snacks onto the shelf", "skill": "Place", "language_memory": "The robot bent over, picked up and handed over a yellow bagged snack, then picked up a green bagged snack before adjusting its posture."}, {"start_frame": 664, "end_frame": 809, "action_text": "place the yellow packaged snacks on the shelf", "skill": "Place", "language_memory": "The robot bent over, picked up and handed over a yellow bagged snack, then picked up and placed a green bagged snack onto the shelf."}, {"start_frame": 809, "end_frame": 915, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot picked up yellow and green bagged snacks from the shopping cart and placed them on the shelf."}, {"start_frame": 915, "end_frame": 1026, "action_text": "pick up the white bagged snack from the shopping cart", "skill": "Pick", "language_memory": "The robot picked up yellow and green bagged snacks from the shopping cart and placed them onto the shelf."}, {"start_frame": 1026, "end_frame": 1099, "action_text": "hand over the green bagged snack", "skill": "Handover", "language_memory": "The robot picked up yellow, green, and white bagged snacks from the shopping cart and placed the green and yellow snacks onto the shelf."}, {"start_frame": 1099, "end_frame": 1379, "action_text": "pick up the white bagged snack from the shopping cart", "skill": "Pick", "language_memory": "The robot retrieved yellow, green, and white bagged snacks from the shopping cart and placed the green and yellow snacks onto the shelf."}, {"start_frame": 1379, "end_frame": 1421, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot has picked up yellow, green, and white bagged snacks from the shopping cart, handed over the green and white snacks, and placed the green and yellow packaged snacks onto the shelf."}, {"start_frame": 1421, "end_frame": 1574, "action_text": "place the white packaged snacks onto the shelf", "skill": "Place", "language_memory": "The robot has retrieved yellow, green, and white bagged snacks from the shopping cart and placed the green and yellow snacks onto the shelf."}, {"start_frame": 1574, "end_frame": 1663, "action_text": "place the white packaged snacks onto the shelf", "skill": "Place", "language_memory": "The robot has successfully restocked the shelf by picking up and placing yellow, green, and white bagged snacks from the shopping cart."}, {"start_frame": 1663, "end_frame": 1744, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has successfully restocked the shelf with yellow, green, and white bagged snacks by picking them up from the shopping cart and placing them on the shelf."}, {"start_frame": 1744, "end_frame": 1788, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot has restocked the shelf with yellow, green, and white bagged snacks by picking them up from the shopping cart and placing them on the shelf."}, {"start_frame": 1788, "end_frame": 1935, "action_text": "pick up the white bagged snack from the shopping cart", "skill": "Pick", "language_memory": "The robot has picked up yellow, green, and white bagged snacks from the shopping cart and placed them onto the shelf."}, {"start_frame": 1935, "end_frame": 2020, "action_text": "hand over the green bagged snack", "skill": "Handover", "language_memory": "The robot has restocked the shelf with yellow, green, and white bagged snacks by picking them up from the shopping cart and placing them on the shelf."}, {"start_frame": 2020, "end_frame": 2175, "action_text": "pick up the green bagged quail eggs from the shopping cart", "skill": "Pick", "language_memory": "The robot has restocked multiple bagged snacks of different colors (yellow, green, and white) by picking them up from the shopping cart and placing them onto the shelf."}, {"start_frame": 2175, "end_frame": 2217, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot has restocked the shelf with yellow, green, and white bagged snacks and green bagged quail eggs by picking them from the shopping cart and placing them on the shelf."}, {"start_frame": 2217, "end_frame": 2462, "action_text": "place the white packaged snacks on the shelf", "skill": "Place", "language_memory": "The robot has restocked the shelf with yellow, green, and white bagged snacks and green bagged quail eggs by picking them from the shopping cart and placing them on the shelf."}, {"start_frame": 2462, "end_frame": 2547, "action_text": "place the green packaged snacks on the shelf", "skill": "Place", "language_memory": "The robot has restocked the shelf with yellow, green, and white bagged snacks and green bagged quail eggs by picking them from the shopping cart and placing them on the shelf."}, {"start_frame": 2547, "end_frame": 2591, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot has restocked the shelf with yellow, green, and white bagged snacks and green packaged quail eggs by picking them from the shopping cart and placing them on the shelf."}], "detailed_task_instruction": ["Restock the bagged snacks by first bending over to pick up the yellow bagged snack from the shopping cart and handing it over, then adjusting your posture to place the green packaged snacks onto the shelf followed by the yellow ones. Next, bend over again to retrieve the white bagged snack, hand over the green bagged snack, and pick up another white bagged snack. Adjust your posture to place the white packaged snacks on the shelf, rotate your waist, bend over to pick up a white bagged snack, hand over the green bagged snack, and finally pick up the green bagged quail eggs. Adjust your posture to place the white packaged snacks on the shelf and conclude by placing the green packaged snacks on the shelf."]}
{"task_id": "task_3641", "episode_index": 44, "video_path": "task_3641/videos/chunk-000/{video_key}/episode_000044.mp4", "tasks": ["Restocking the bagged snack."], "length": 1823, "action_config": [{"start_frame": 85, "end_frame": 127, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 127, "end_frame": 242, "action_text": "pick up the green bagged snack from the shopping cart", "skill": "Pick", "language_memory": "The robot has bent over."}, {"start_frame": 242, "end_frame": 314, "action_text": "hand over the green bagged snack", "skill": "Handover", "language_memory": "The robot bent over and picked up the green bagged snack from the shopping cart."}, {"start_frame": 314, "end_frame": 429, "action_text": "pick up the green bag of quail eggs from the shopping cart", "skill": "Pick", "language_memory": "The robot bent over, picked up the green bagged snack from the shopping cart, and handed it over."}, {"start_frame": 429, "end_frame": 496, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot bent over, picked up and handed over a green bagged snack, and picked up a green bag of quail eggs from the shopping cart."}, {"start_frame": 496, "end_frame": 653, "action_text": "place the green packaged snacks onto the shelf", "skill": "Place", "language_memory": "The robot bent over, handed over a green bagged snack, and picked up a green bag of quail eggs from the shopping cart before adjusting its posture."}, {"start_frame": 653, "end_frame": 723, "action_text": "place the bagged green quail eggs on the shelf", "skill": "Place", "language_memory": "The robot bent over, picked up and handed over a green bagged snack, picked up a green bag of quail eggs, adjusted its posture, and placed the green packaged snacks onto the shelf."}, {"start_frame": 723, "end_frame": 844, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot bent over, picked up green bagged snacks and green quail eggs from the shopping cart, handed over the green bagged snack, adjusted its posture, and placed all green packaged items onto the shelf."}, {"start_frame": 844, "end_frame": 1149, "action_text": "pick up the green bagged snack from the shopping cart", "skill": "Pick", "language_memory": "The robot picked up green bagged snacks and green quail eggs from the shopping cart and placed them onto the shelf."}, {"start_frame": 1149, "end_frame": 1266, "action_text": "hand over the green bagged snack", "skill": "Handover", "language_memory": "The robot has picked up multiple green bagged snacks and a green bag of quail eggs from the shopping cart and placed them onto the shelf."}, {"start_frame": 1266, "end_frame": 1401, "action_text": "pick up the yellow bagged snack from the shopping cart", "skill": "Pick", "language_memory": "The robot has picked up multiple green bagged snacks and a green bag of quail eggs from the shopping cart and placed them onto the shelf."}, {"start_frame": 1401, "end_frame": 1454, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot has restocked the shelf with multiple green bagged snacks and green quail eggs, and is currently holding a yellow bagged snack."}, {"start_frame": 1454, "end_frame": 1595, "action_text": "place the yellow packaged snacks on the shelf", "skill": "Place", "language_memory": "The robot has restocked multiple green bagged snacks and green quail eggs onto the shelf, and is currently holding a yellow bagged snack."}, {"start_frame": 1595, "end_frame": 1785, "action_text": "place the green packaged snacks onto the shelf", "skill": "Place", "language_memory": "The robot has restocked multiple green and yellow bagged snacks from the shopping cart onto the shelf."}, {"start_frame": 1785, "end_frame": 1822, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot has restocked multiple green and yellow bagged snacks from the shopping cart onto the shelf."}], "detailed_task_instruction": ["Restock the bagged snacks by bending over to pick up a green bagged snack and a green bag of quail eggs from the shopping cart, handing them over, and adjusting your posture to place both items onto the shelf. Repeat this process by bending over again to pick up another green bagged snack and a yellow bagged snack from the cart, handing them over, and adjusting your posture to place the yellow packaged snacks and the green packaged snacks onto the shelf."]}
{"task_id": "task_3641", "episode_index": 45, "video_path": "task_3641/videos/chunk-000/{video_key}/episode_000045.mp4", "tasks": ["Restocking the bagged snack."], "length": 1981, "action_config": [{"start_frame": 98, "end_frame": 139, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 139, "end_frame": 285, "action_text": "pick up the white bagged snack from the shopping cart", "skill": "Pick", "language_memory": "The robot has bent over."}, {"start_frame": 285, "end_frame": 387, "action_text": "hand over the white bagged snack", "skill": "Handover", "language_memory": "The robot bent over and picked up the white bagged snack from the shopping cart."}, {"start_frame": 387, "end_frame": 520, "action_text": "pick up the white bagged snack from the shopping cart", "skill": "Pick", "language_memory": "The robot bent over, picked up a white bagged snack from the shopping cart, and handed it over."}, {"start_frame": 520, "end_frame": 572, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot bent over, picked up the white bagged snack from the shopping cart, and handed it over."}, {"start_frame": 572, "end_frame": 638, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot bent over, picked up and handed over a white bagged snack from the shopping cart, and adjusted its posture."}, {"start_frame": 638, "end_frame": 750, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot bent over, picked up and handed over a white bagged snack from the shopping cart, adjusted its posture, and rotated its waist."}, {"start_frame": 750, "end_frame": 820, "action_text": "place the white packaged snacks onto the shelf", "skill": "Place", "language_memory": "The robot bent over, picked up and handed over a white bagged snack from the shopping cart, adjusted its posture, and rotated its waist."}, {"start_frame": 820, "end_frame": 948, "action_text": "place the white packaged snacks onto the shelf", "skill": "Place", "language_memory": "The robot picked up white bagged snacks from the shopping cart and placed them onto the shelf."}, {"start_frame": 948, "end_frame": 1029, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot picked up white bagged snacks from the shopping cart and placed them onto the shelf."}, {"start_frame": 1029, "end_frame": 1144, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot picked up white bagged snacks from the shopping cart and placed them onto the shelf."}, {"start_frame": 1144, "end_frame": 1291, "action_text": "pick up the green bagged snack from the shopping cart", "skill": "Pick", "language_memory": "The robot picked up white bagged snacks from the shopping cart and placed them onto the shelf."}, {"start_frame": 1291, "end_frame": 1382, "action_text": "hand over the green bagged snack", "skill": "Handover", "language_memory": "The robot picked up white and green bagged snacks from the shopping cart and placed the white packaged snacks onto the shelf."}, {"start_frame": 1382, "end_frame": 1543, "action_text": "pick up the green bagged quail eggs from the shopping cart", "skill": "Pick", "language_memory": "The robot picked up white and green bagged snacks from the shopping cart and placed them onto the shelf."}, {"start_frame": 1543, "end_frame": 1596, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot picked up white bagged snacks and green bagged snacks from the shopping cart, handed them over, and placed the white packaged snacks onto the shelf."}, {"start_frame": 1596, "end_frame": 1674, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has restocked the shelf with white bagged snacks, green bagged snacks, and green quail eggs by picking them up from the shopping cart and handing them over."}, {"start_frame": 1674, "end_frame": 1752, "action_text": "place the bagged green quail eggs on the shelf", "skill": "Place", "language_memory": "The robot has restocked the shelf with white bagged snacks, green bagged snacks, and green quail eggs by picking them up from the shopping cart and handing them over."}, {"start_frame": 1752, "end_frame": 1803, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot has restocked the shelf with white bagged snacks, green bagged snacks, and green bagged quail eggs."}, {"start_frame": 1803, "end_frame": 1912, "action_text": "place the green packaged snacks onto the shelf", "skill": "Place", "language_memory": "The robot has restocked the shelf with white bagged snacks, green bagged snacks, and green bagged quail eggs."}, {"start_frame": 1912, "end_frame": 1961, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot has restocked the shelf with white bagged snacks, green bagged snacks, and green bagged quail eggs."}], "detailed_task_instruction": ["Bend over to pick up a white bagged snack from the shopping cart and hand it over, then adjust your posture and rotate your waist to place the white packaged snacks onto the shelf. Next, bend over again to pick up a green bagged snack from the shopping cart and hand it over. Adjust your posture and rotate your waist to place the green packaged snacks onto the shelf. Finally, bend over to pick up a bag of green quail eggs from the shopping cart, hand it over, and place the bagged green quail eggs on the shelf."]}
{"task_id": "task_3641", "episode_index": 46, "video_path": "task_3641/videos/chunk-000/{video_key}/episode_000046.mp4", "tasks": ["Restocking the bagged snack."], "length": 1886, "action_config": [{"start_frame": 0, "end_frame": 87, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 87, "end_frame": 130, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot rotated its waist."}, {"start_frame": 130, "end_frame": 453, "action_text": "pick up the white bagged snack from the shopping cart", "skill": "Pick", "language_memory": "The robot rotated its waist and bent over."}, {"start_frame": 453, "end_frame": 552, "action_text": "hand over the white bagged snack", "skill": "Handover", "language_memory": "The robot rotated its waist, bent over, and picked up the white bagged snack from the shopping cart."}, {"start_frame": 552, "end_frame": 721, "action_text": "pick up the red bagged snack from the shopping cart", "skill": "Pick", "language_memory": "The robot rotated its waist, bent over, picked up a white bagged snack from the shopping cart, and handed it over."}, {"start_frame": 721, "end_frame": 772, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot rotated its waist, bent over, picked up and handed over a white bagged snack, and picked up a red bagged snack from the shopping cart."}, {"start_frame": 772, "end_frame": 914, "action_text": "place the red packaged snacks onto the shelf", "skill": "Place", "language_memory": "The robot rotated its waist, bent over, picked up and handed over a white bagged snack, picked up a red bagged snack, and adjusted its posture."}, {"start_frame": 914, "end_frame": 1055, "action_text": "place the white packaged snacks on the shelf", "skill": "Place", "language_memory": "The robot rotated its waist, bent over, picked up white and red bagged snacks from the shopping cart, handed over the white snack, adjusted its posture, and placed the red packaged snacks onto the shelf."}, {"start_frame": 1055, "end_frame": 1174, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot rotated its waist, bent over, picked up white and red bagged snacks from the shopping cart, handed over the white snack, adjusted its posture, and placed both the red and white packaged snacks onto the shelf."}, {"start_frame": 1174, "end_frame": 1302, "action_text": "pick up the yellow bagged snack from the shopping cart", "skill": "Pick", "language_memory": "The robot rotated its waist, bent over, picked up white and red bagged snacks from the shopping cart, handed over the white snack, adjusted its posture, and placed both the red and white packaged snacks onto the shelf."}, {"start_frame": 1302, "end_frame": 1411, "action_text": "hand over the yellow bagged snack", "skill": "Handover", "language_memory": "The robot rotated its waist, bent over, picked up white, red, and yellow bagged snacks from the shopping cart, handed over the white snack, adjusted its posture, and placed the red and white packaged snacks onto the shelf."}, {"start_frame": 1411, "end_frame": 1545, "action_text": "pick up the yellow bagged snack from the shopping cart", "skill": "Pick", "language_memory": "The robot rotated its waist, bent over, and picked up white, red, and yellow bagged snacks from the shopping cart, handing over the white and yellow snacks before placing the red and white packaged snacks onto the shelf."}, {"start_frame": 1545, "end_frame": 1586, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot rotated its waist, bent over, and picked up white, red, and yellow bagged snacks from the shopping cart, handed over the white and yellow snacks, adjusted its posture, and placed the red and white packaged snacks onto the shelf."}, {"start_frame": 1586, "end_frame": 1656, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot rotated its waist, bent over, and picked up white, red, and yellow bagged snacks from the shopping cart, handing them over and placing the red and white snacks onto the shelf before adjusting its posture and picking up the yellow bagged snack again."}, {"start_frame": 1656, "end_frame": 1745, "action_text": "place the yellow packaged snacks onto the shelf", "skill": "Place", "language_memory": "The robot rotated its waist, bent over, and picked up white, red, and yellow bagged snacks from the shopping cart, handing them over and placing the red and white snacks onto the shelf before adjusting its posture and rotating its waist again."}, {"start_frame": 1745, "end_frame": 1823, "action_text": "place the yellow packaged snack on the shelf", "skill": "Place", "language_memory": "The robot rotated its waist, bent over, and picked up white, red, and yellow bagged snacks from the shopping cart, handing them over and placing all three types of packaged snacks onto the shelf."}, {"start_frame": 1823, "end_frame": 1885, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot rotated its waist, bent over, and picked up white, red, and yellow bagged snacks from the shopping cart, handing them over and placing all three types of packaged snacks onto the shelf."}], "detailed_task_instruction": ["Restock the bagged snacks by first rotating your waist and bending over to pick up the white bagged snack from the shopping cart, then handing it over and adjusting your posture to place it on the shelf. Next, bend over again to retrieve the red bagged snack, adjust your posture, and place it on the shelf. Finally, rotate your waist, bend over to pick up the yellow bagged snack, hand it over, adjust your posture, and place the yellow packaged snacks onto the shelf."]}
{"task_id": "task_3641", "episode_index": 47, "video_path": "task_3641/videos/chunk-000/{video_key}/episode_000047.mp4", "tasks": ["Restocking the bagged snack."], "length": 1769, "action_config": [{"start_frame": 313, "end_frame": 407, "action_text": "mobile chassis", "skill": "Navigate", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 407, "end_frame": 573, "action_text": "bend the waist downward while lowering the body", "skill": "AdjustPosture", "language_memory": "The mobile chassis has been moved."}, {"start_frame": 573, "end_frame": 883, "action_text": "pick up the white bagged goods from the ground", "skill": "Pick", "language_memory": "The robot has moved its mobile chassis and bent its waist downward while lowering its body."}, {"start_frame": 883, "end_frame": 1049, "action_text": "the waist arches upward as the upper body rises", "skill": "AdjustPosture", "language_memory": "The robot has moved its chassis, bent its waist downward, and picked up the white bagged goods from the ground."}, {"start_frame": 1049, "end_frame": 1121, "action_text": "mobile chassis", "skill": "Navigate", "language_memory": "The robot moved to the location, lowered its body, picked up the white bagged goods from the ground, and returned to an upright posture."}, {"start_frame": 1121, "end_frame": 1338, "action_text": "pick up the yellow packaged product from the shelf", "skill": "Pick", "language_memory": "The robot moved its chassis, bent its waist to pick up a white bagged item from the ground, and then rose back up."}, {"start_frame": 1338, "end_frame": 1439, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot has moved its chassis, bent its waist to pick up a white bagged good from the ground, and retrieved a yellow packaged product from the shelf."}, {"start_frame": 1439, "end_frame": 1523, "action_text": "place the white bagged goods into the shopping cart", "skill": "Place", "language_memory": "The robot has moved its chassis, lowered its body to pick up a white bagged item from the ground, and retrieved a yellow packaged product from the shelf."}, {"start_frame": 1523, "end_frame": 1601, "action_text": "place the yellow bagged item into the shopping cart", "skill": "Place", "language_memory": "The robot moved to the shelf, picked up a yellow packaged product, and placed a white bagged good into the shopping cart."}, {"start_frame": 1601, "end_frame": 1649, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot has successfully retrieved white bagged goods from the ground and a yellow packaged product from the shelf, placing both items into the shopping cart."}, {"start_frame": 1649, "end_frame": 1768, "action_text": "place the reset position", "skill": "Place", "language_memory": "The robot has successfully retrieved white bagged goods from the ground and a yellow packaged product from the shelf, placing both items into the shopping cart."}], "detailed_task_instruction": ["Restock the shopping cart by first bending your waist downward to pick up white bagged goods from the ground, then rising back to a standing position. Next, reach up to the shelf to retrieve a yellow packaged product. Finally, place both the white bagged goods and the yellow packaged item into the shopping cart, adjusting your posture as needed and returning to your reset position once the restocking is complete."]}
{"task_id": "task_3641", "episode_index": 48, "video_path": "task_3641/videos/chunk-000/{video_key}/episode_000048.mp4", "tasks": ["Restocking the bagged snack."], "length": 2195, "action_config": [{"start_frame": 0, "end_frame": 148, "action_text": "pick up the green packaged product from the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 148, "end_frame": 300, "action_text": "pick up the white packaged product from the shelf", "skill": "Pick", "language_memory": "The robot has picked up the green packaged product from the shelf."}, {"start_frame": 300, "end_frame": 430, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot has picked up the green and white packaged products from the shelf."}, {"start_frame": 430, "end_frame": 513, "action_text": "place the green bagged item into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up the green and white packaged products from the shelf and bent over."}, {"start_frame": 513, "end_frame": 612, "action_text": "place the white bagged items into the shopping cart", "skill": "Place", "language_memory": "The robot picked up green and white packaged products from the shelf, bent over, and placed the green bagged item into the shopping cart."}, {"start_frame": 612, "end_frame": 657, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot picked up green and white packaged products from the shelf and placed them into the shopping cart."}, {"start_frame": 657, "end_frame": 906, "action_text": "pick up the pink packaged product from the shelf", "skill": "Pick", "language_memory": "The robot picked up green and white packaged products from the shelf, bent over, and placed both items into the shopping cart before adjusting its posture."}, {"start_frame": 906, "end_frame": 1026, "action_text": "pick up the blue packaged product from the shelf", "skill": "Pick", "language_memory": "The robot picked up green, white, and pink packaged products from the shelf, adjusted its posture, and placed the green and white items into the shopping cart."}, {"start_frame": 1026, "end_frame": 1143, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot has picked up green, white, pink, and blue packaged products from the shelf and placed the green and white items into the shopping cart."}, {"start_frame": 1143, "end_frame": 1238, "action_text": "place the pink bagged item into the shopping cart", "skill": "Place", "language_memory": "The robot picked up green, white, pink, and blue packaged products from the shelf, bent over, and placed the green and white items into the shopping cart while adjusting its posture."}, {"start_frame": 1238, "end_frame": 1325, "action_text": "place the blue packaged product into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up green, white, pink, and blue packaged products from the shelf and placed them into the shopping cart."}, {"start_frame": 1325, "end_frame": 1380, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot has successfully retrieved green, white, pink, and blue packaged products from the shelf and placed all of them into the shopping cart."}, {"start_frame": 1380, "end_frame": 1590, "action_text": "pick up the yellow packaged product from the shelf", "skill": "Pick", "language_memory": "The robot has successfully retrieved green, white, pink, and blue packaged products from the shelf and placed all of them into the shopping cart."}, {"start_frame": 1590, "end_frame": 1803, "action_text": "pick up the blue packaged product from the shelf", "skill": "Pick", "language_memory": "The robot has successfully retrieved green, white, pink, and blue packaged products from the shelf and placed them into the shopping cart, and is currently holding a yellow packaged product."}, {"start_frame": 1803, "end_frame": 1886, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot has successfully retrieved green, white, pink, and blue packaged products from the shelf and placed them into the shopping cart, while adjusting its posture between tasks."}, {"start_frame": 1886, "end_frame": 1960, "action_text": "place the yellow packaged goods into the shopping cart", "skill": "Place", "language_memory": "The robot has successfully retrieved green, white, pink, blue, and yellow packaged products from the shelf and placed them into the shopping cart, while adjusting its posture between tasks."}, {"start_frame": 1960, "end_frame": 2039, "action_text": "place the blue bagged item into the shopping cart", "skill": "Place", "language_memory": "The robot successfully retrieved green, white, pink, blue, and yellow packaged products from the shelf and placed all of them into the shopping cart."}, {"start_frame": 2039, "end_frame": 2077, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot successfully retrieved multiple green, white, pink, blue, and yellow packaged products from the shelf and placed them into the shopping cart, with intermittent posture adjustments."}, {"start_frame": 2077, "end_frame": 2194, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot successfully retrieved multiple green, white, pink, blue, and yellow packaged products from the shelf and placed them into the shopping cart, with periodic posture adjustments performed throughout the process."}], "detailed_task_instruction": ["Restock the bagged snacks by sequentially retrieving and placing items into the shopping cart. First, pick up the green and white packaged products from the shelf, bend over, and place both into the cart. Next, retrieve the pink and blue packaged products, bend over, and place them into the cart. Finally, pick up the yellow and blue packaged products, bend over, and place both into the cart. Throughout the process, adjust the robot posture as needed between actions to maintain stability while moving from the shelf to the cart."]}
{"task_id": "task_3641", "episode_index": 49, "video_path": "task_3641/videos/chunk-000/{video_key}/episode_000049.mp4", "tasks": ["Restocking the bagged snack."], "length": 2079, "action_config": [{"start_frame": 0, "end_frame": 185, "action_text": "increase height", "skill": "AdjustPosture", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 185, "end_frame": 389, "action_text": "pick up the green packaged product from the shelf", "skill": "Pick", "language_memory": "The robot has increased its height."}, {"start_frame": 389, "end_frame": 697, "action_text": "pick up the red packaged product from the shelf", "skill": "Pick", "language_memory": "The robot increased its height and picked up the green packaged product from the shelf."}, {"start_frame": 697, "end_frame": 830, "action_text": "decrease height", "skill": "AdjustPosture", "language_memory": "The robot increased its height and picked up the green and red packaged products from the shelf."}, {"start_frame": 830, "end_frame": 948, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot adjusted its height, retrieved the green and red packaged products from the shelf, and returned to a decreased height."}, {"start_frame": 948, "end_frame": 1024, "action_text": "place the yellow bagged item into the shopping cart", "skill": "Place", "language_memory": "The robot increased its height, picked up green and red packaged products from the shelf, decreased its height, and bent over."}, {"start_frame": 1024, "end_frame": 1168, "action_text": "place the red packaged product into the shopping cart", "skill": "Place", "language_memory": "The robot increased its height, picked up green and red packaged products from the shelf, decreased its height, bent over, and placed a yellow bagged item into the shopping cart."}, {"start_frame": 1168, "end_frame": 1219, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot increased its height, picked up green and red packaged products from the shelf, decreased its height, bent over, and placed the yellow bagged item and red packaged product into the shopping cart."}, {"start_frame": 1219, "end_frame": 1304, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot increased its height, picked up green and red packaged products from the shelf, decreased its height, bent over, placed the yellow bagged item and the red packaged product into the shopping cart, and adjusted its posture."}, {"start_frame": 1304, "end_frame": 1339, "action_text": "increase height", "skill": "AdjustPosture", "language_memory": "The robot increased its height, picked up green and red packaged products from the shelf, decreased its height, bent over, placed the yellow bagged item and the red packaged product into the shopping cart, and adjusted its posture by rotating its waist."}, {"start_frame": 1339, "end_frame": 1457, "action_text": "pick up the red packaged product from the shelf", "skill": "Pick", "language_memory": "The robot increased its height, picked up green and red packaged products from the shelf, decreased its height, bent over, placed the yellow bagged item and red packaged product into the shopping cart, adjusted its posture, rotated its waist, and increased its height again."}, {"start_frame": 1457, "end_frame": 1610, "action_text": "pick up the white packaged product from the shelf", "skill": "Pick", "language_memory": "The robot increased height, picked up green and red packaged products from the shelf, decreased height, bent over, placed a yellow bagged item and a red packaged product into the shopping cart, adjusted its posture, rotated its waist, and picked up another red packaged product from the shelf."}, {"start_frame": 1610, "end_frame": 1724, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot increased its height, picked up green, red, and white packaged products from the shelf, decreased its height, bent over, placed the yellow bagged item and red packaged product into the shopping cart, adjusted its posture, rotated its waist, and increased its height again."}, {"start_frame": 1724, "end_frame": 1801, "action_text": "place the white bagged goods into the shopping cart", "skill": "Place", "language_memory": "The robot has increased and decreased its height, bent over, adjusted its posture, and rotated its waist while picking up green, red, and white packaged products from the shelf and placing the yellow bagged item and red packaged product into the shopping cart."}, {"start_frame": 1801, "end_frame": 1924, "action_text": "place the red packaged goods into the shopping cart", "skill": "Place", "language_memory": "The robot increased height, picked up green, red, and white packaged products from the shelf, decreased height, bent over, adjusted posture, rotated the waist, and placed the yellow, red, and white bagged items into the shopping cart."}, {"start_frame": 1924, "end_frame": 1971, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot has increased and decreased its height multiple times, bent over, adjusted its posture, and rotated its waist while picking up green, red, yellow, and white packaged products from the shelf and placing them into the shopping cart."}], "detailed_task_instruction": ["Restock the bagged snacks by first increasing height, then picking up the green and red packaged products from the shelf before decreasing height and bending over to place the yellow bagged item into the shopping cart. Adjust the robot posture and rotate the waist to increase height again, then pick up the red and white packaged products from the shelf. Bend over once more to place the white bagged goods and the red packaged goods into the shopping cart, and finally adjust the robot posture to complete the restocking process."]}
{"task_id": "task_3641", "episode_index": 50, "video_path": "task_3641/videos/chunk-000/{video_key}/episode_000050.mp4", "tasks": ["Restocking the bagged snack."], "length": 1814, "action_config": [{"start_frame": 27, "end_frame": 273, "action_text": "pick up the white packaged product from the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 273, "end_frame": 536, "action_text": "pick up the white packaged product from the shelf", "skill": "Pick", "language_memory": "The robot has picked up the white packaged product from the shelf."}, {"start_frame": 536, "end_frame": 673, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot picked up a white packaged product from the shelf."}, {"start_frame": 673, "end_frame": 766, "action_text": "place the white bagged item into the shopping cart", "skill": "Place", "language_memory": "The robot picked up white packaged products from the shelf and bent over."}, {"start_frame": 766, "end_frame": 869, "action_text": "place the white bagged goods into the shopping cart", "skill": "Place", "language_memory": "The robot picked up white packaged products from the shelf and placed them into the shopping cart."}, {"start_frame": 869, "end_frame": 913, "action_text": "pick up the object", "skill": "Pick", "language_memory": "The robot picked up white packaged products from the shelf and placed them into the shopping cart."}, {"start_frame": 913, "end_frame": 990, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up white packaged products from the shelf and placed them into the shopping cart, then picked up an object."}, {"start_frame": 990, "end_frame": 1201, "action_text": "pick up the white packaged product from the shelf", "skill": "Pick", "language_memory": "The robot picked up white packaged products from the shelf and placed them into the shopping cart."}, {"start_frame": 1201, "end_frame": 1337, "action_text": "pick up the green packaged product from the shelf", "skill": "Pick", "language_memory": "The robot has picked up multiple white packaged products from the shelf and placed them into the shopping cart."}, {"start_frame": 1337, "end_frame": 1450, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot has picked up multiple white and green packaged products from the shelf and placed the white bagged items into the shopping cart."}, {"start_frame": 1450, "end_frame": 1514, "action_text": "place the green packaged item into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up multiple white and green packaged products from the shelf and placed them into the shopping cart."}, {"start_frame": 1514, "end_frame": 1596, "action_text": "place the white bagged items into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up white and green packaged products from the shelf and placed them into the shopping cart."}, {"start_frame": 1596, "end_frame": 1646, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot successfully retrieved multiple white and green packaged products from the shelf and placed them into the shopping cart."}, {"start_frame": 1646, "end_frame": 1739, "action_text": "rotate the waist while lowering the body", "skill": "Rotate", "language_memory": "The robot successfully retrieved multiple white and green packaged products from the shelf and placed them into the shopping cart, while adjusting its posture throughout the process."}, {"start_frame": 1739, "end_frame": 1813, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot successfully retrieved multiple white and green packaged products from the shelf and placed them into the shopping cart."}], "detailed_task_instruction": ["Restock the bagged snacks by first picking up a white packaged product from the shelf, bending over, and placing it into the shopping cart. Next, pick up another white packaged product, rotate your waist, and place it into the cart. Then, pick up a green packaged product from the shelf, bend over, and place it into the shopping cart. Finally, pick up a third white packaged product, rotate your waist while lowering your body, and place it into the cart. Adjust your posture as needed throughout the process to ensure smooth movement and proper placement of all items."]}
{"task_id": "task_3641", "episode_index": 51, "video_path": "task_3641/videos/chunk-000/{video_key}/episode_000051.mp4", "tasks": ["Restocking the bagged snack."], "length": 1772, "action_config": [{"start_frame": 66, "end_frame": 138, "action_text": "increase height", "skill": "AdjustPosture", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 138, "end_frame": 272, "action_text": "pick up the orange packaged product from the shelf", "skill": "Pick", "language_memory": "The robot has increased its height."}, {"start_frame": 272, "end_frame": 517, "action_text": "pick up the purple packaged product from the shelf", "skill": "Pick", "language_memory": "The robot increased its height and picked up the orange packaged product from the shelf."}, {"start_frame": 517, "end_frame": 658, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot increased its height and picked up the orange and purple packaged products from the shelf."}, {"start_frame": 658, "end_frame": 734, "action_text": "place the purple bagged item into the shopping cart", "skill": "Place", "language_memory": "The robot increased its height, picked up the orange and purple packaged products from the shelf, and bent over."}, {"start_frame": 734, "end_frame": 851, "action_text": "place the orange bagged product into the shopping cart", "skill": "Place", "language_memory": "The robot increased its height, picked up orange and purple packaged products from the shelf, bent over, and placed the purple bagged item into the shopping cart."}, {"start_frame": 851, "end_frame": 899, "action_text": "as height increases, the waistline rises", "skill": "AdjustPosture", "language_memory": "The robot increased its height, picked up orange and purple packaged products from the shelf, bent over, and placed both items into the shopping cart."}, {"start_frame": 899, "end_frame": 976, "action_text": "rotate the waist while lowering the body", "skill": "Rotate", "language_memory": "The robot increased its height, picked up orange and purple packaged products from the shelf, and placed both items into the shopping cart."}, {"start_frame": 976, "end_frame": 1134, "action_text": "pick up the white packaged product from the shelf", "skill": "Pick", "language_memory": "The robot increased its height, picked up orange and purple packaged products from the shelf, bent over, and placed both items into the shopping cart."}, {"start_frame": 1134, "end_frame": 1336, "action_text": "pick up the yellow packaged product from the shelf", "skill": "Pick", "language_memory": "The robot increased its height, picked up orange, purple, and white packaged products from the shelf, bent over, placed the purple and orange bagged items into the shopping cart, and rotated its waist while lowering its body."}, {"start_frame": 1336, "end_frame": 1412, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot increased its height, picked up orange, purple, white, and yellow packaged products from the shelf, bent over, placed the purple and orange bagged items into the shopping cart, and rotated its waist while lowering its body."}, {"start_frame": 1412, "end_frame": 1450, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot has increased its height, picked up and placed orange, purple, white, and yellow packaged products into the shopping cart, and performed waist rotations and bending motions."}, {"start_frame": 1450, "end_frame": 1520, "action_text": "place the yellow packaged morel soup into the shopping cart", "skill": "Place", "language_memory": "The robot increased its height, picked up orange, purple, white, and yellow packaged products from the shelf, placed the purple and orange items into the shopping cart, and rotated its waist while bending over."}, {"start_frame": 1520, "end_frame": 1613, "action_text": "place the white bagged items into the shopping cart", "skill": "Place", "language_memory": "The robot increased its height, picked up and placed orange, purple, white, and yellow packaged products into the shopping cart, and performed associated body movements including bending, rotating the waist, and raising the waistline."}, {"start_frame": 1613, "end_frame": 1658, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot increased its height, picked up orange, purple, white, and yellow packaged products from the shelf, and placed all of them into the shopping cart."}, {"start_frame": 1658, "end_frame": 1727, "action_text": "rotate the waist while lowering the body", "skill": "Rotate", "language_memory": "The robot adjusted its posture, increased height, and bent over to pick up orange, purple, white, and yellow packaged products from the shelf, subsequently placing all of them into the shopping cart."}, {"start_frame": 1727, "end_frame": 1771, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot has increased its height, picked up and placed orange, purple, white, and yellow packaged products into the shopping cart, and adjusted its posture through bending, rotating, and lowering motions."}], "detailed_task_instruction": ["Restock the bagged snacks by first increasing your height, then bending over to pick up the orange and purple packaged products from the shelf. Rotate your waist while lowering your body to place the purple bag into the shopping cart, followed by the orange bag. As your height increases and your waistline rises, bend over again to retrieve the white and yellow packaged products. Rotate your waist, bend over, and place the yellow packaged morel soup into the cart, then add the white bagged items. Finally, adjust your robot posture and rotate your waist while lowering your body to complete the restocking process."]}
{"task_id": "task_3641", "episode_index": 52, "video_path": "task_3641/videos/chunk-000/{video_key}/episode_000052.mp4", "tasks": ["Restocking the bagged snack."], "length": 1791, "action_config": [{"start_frame": 18, "end_frame": 177, "action_text": "pick up the green packaged product from the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 177, "end_frame": 363, "action_text": "pick up the blue packaged product from the shelf", "skill": "Pick", "language_memory": "The robot has picked up the green packaged product from the shelf."}, {"start_frame": 363, "end_frame": 455, "action_text": "rotate the waist while lowering the body", "skill": "Rotate", "language_memory": "The robot has picked up the green and blue packaged products from the shelf."}, {"start_frame": 455, "end_frame": 512, "action_text": "pick up the object", "skill": "Pick", "language_memory": "The robot has retrieved the green and blue packaged products from the shelf and adjusted its posture by rotating the waist while lowering the body."}, {"start_frame": 512, "end_frame": 590, "action_text": "place the green bagged item into the shopping cart", "skill": "Place", "language_memory": "The robot has retrieved green and blue packaged products from the shelf and adjusted its posture by rotating the waist and lowering the body."}, {"start_frame": 590, "end_frame": 682, "action_text": "place the blue bagged item into the shopping cart", "skill": "Place", "language_memory": "The robot picked up green and blue packaged products from the shelf, adjusted its posture by rotating the waist and lowering the body, and placed the green bagged item into the shopping cart."}, {"start_frame": 682, "end_frame": 723, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot picked up green and blue packaged products from the shelf and placed both items into the shopping cart."}, {"start_frame": 723, "end_frame": 810, "action_text": "rotate the waist while lowering the body", "skill": "Rotate", "language_memory": "The robot picked up green and blue packaged products from the shelf and placed them into the shopping cart."}, {"start_frame": 810, "end_frame": 935, "action_text": "increase height", "skill": "AdjustPosture", "language_memory": "The robot retrieved green and blue packaged products from the shelf and placed both items into the shopping cart."}, {"start_frame": 935, "end_frame": 1130, "action_text": "pick up the red and white packaged product from the shelf", "skill": "Pick", "language_memory": "The robot retrieved green and blue packaged products from the shelf and successfully placed both items into the shopping cart."}, {"start_frame": 1130, "end_frame": 1330, "action_text": "pick up the green packaged product from the shelf", "skill": "Pick", "language_memory": "The robot retrieved green, blue, and red-and-white packaged products from the shelf and placed the green and blue items into the shopping cart."}, {"start_frame": 1330, "end_frame": 1444, "action_text": "rotate the waist while lowering the body", "skill": "Rotate", "language_memory": "The robot has retrieved multiple green, blue, and red-and-white packaged products from the shelf and successfully placed the green and blue items into the shopping cart."}, {"start_frame": 1444, "end_frame": 1501, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot has successfully retrieved multiple green, blue, and red-and-white packaged products from the shelf and placed the green and blue items into the shopping cart."}, {"start_frame": 1501, "end_frame": 1577, "action_text": "place the green packaged item into the shopping cart", "skill": "Place", "language_memory": "The robot successfully retrieved multiple green, blue, and red-and-white packaged products from the shelf and placed the green and blue items into the shopping cart, while performing various posture adjustments including waist rotations, body lowering, and height changes."}, {"start_frame": 1577, "end_frame": 1661, "action_text": "place the red and white packaged goods into the shopping cart", "skill": "Place", "language_memory": "The robot has successfully retrieved multiple green, blue, and red-and-white packaged products from the shelf and placed them into the shopping cart."}, {"start_frame": 1661, "end_frame": 1708, "action_text": "increase height", "skill": "AdjustPosture", "language_memory": "The robot successfully retrieved multiple green, blue, and red-and-white packaged products from the shelf and placed all of them into the shopping cart."}, {"start_frame": 1708, "end_frame": 1790, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot successfully retrieved multiple green, blue, and red-and-white packaged products from the shelf and placed all of them into the shopping cart."}], "detailed_task_instruction": ["Restock the shopping cart with bagged snacks by first picking up the green and blue packaged products from the shelf, rotating the waist while lowering the body to reach them, and placing both items into the cart. Next, increase height and adjust the robot posture before picking up the red and white packaged product and another green packaged product from the shelf. Rotate the waist while lowering the body, bend over to grasp the items, and place the green packaged item followed by the red and white packaged goods into the shopping cart. Finally, increase height and adjust the robot posture to complete the restocking process."]}
{"task_id": "task_3641", "episode_index": 53, "video_path": "task_3641/videos/chunk-000/{video_key}/episode_000053.mp4", "tasks": ["Restocking the bagged snack."], "length": 2441, "action_config": [{"start_frame": 15, "end_frame": 105, "action_text": "rotate the waist while lowering the body", "skill": "Rotate", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 105, "end_frame": 151, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot rotated its waist while lowering its body."}, {"start_frame": 151, "end_frame": 296, "action_text": "pick up the red and white packaged product from the shopping cart", "skill": "Pick", "language_memory": "The robot rotated its waist and lowered its body."}, {"start_frame": 296, "end_frame": 378, "action_text": "hand over the red and white bagged goods", "skill": "Handover", "language_memory": "The robot rotated its waist while lowering its body, bent over, and picked up the red and white packaged product from the shopping cart."}, {"start_frame": 378, "end_frame": 470, "action_text": "pick up the green bagged item from the shopping cart", "skill": "Pick", "language_memory": "The robot rotated its waist while lowering its body, bent over, picked up the red and white packaged product from the shopping cart, and handed over the red and white bagged goods."}, {"start_frame": 470, "end_frame": 525, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot rotated its waist while lowering its body, bent over, picked up red and white and green bagged items from the shopping cart, and handed over the red and white bagged goods."}, {"start_frame": 525, "end_frame": 746, "action_text": "place the green packaged goods on the shelf", "skill": "Place", "language_memory": "The robot rotated its waist, lowered its body, bent over, picked up red and white and green bagged items from the shopping cart, handed over the red and white bagged goods, and adjusted its posture."}, {"start_frame": 746, "end_frame": 834, "action_text": "increase height", "skill": "AdjustPosture", "language_memory": "The robot rotated its waist, lowered its body, and bent over to pick up red and white and green bagged items from the shopping cart, then handed over the red and white goods and placed the green packaged goods on the shelf."}, {"start_frame": 834, "end_frame": 941, "action_text": "place the red and white packaged goods on the shelf", "skill": "Place", "language_memory": "The robot rotated its waist, lowered its body, and bent over to pick up red and white and green bagged items from the shopping cart, then adjusted its posture to place the green packaged goods on the shelf before increasing its height."}, {"start_frame": 941, "end_frame": 1078, "action_text": "strike the red and white bagged goods", "skill": "Strike", "language_memory": "The robot rotated its waist, lowered its body, and bent over to pick up red and white and green bagged items from the shopping cart, then adjusted its posture to place both items on the shelf."}, {"start_frame": 1078, "end_frame": 1190, "action_text": "decrease height", "skill": "AdjustPosture", "language_memory": "The robot rotated its waist, bent over, picked up red and white and green bagged items from the shopping cart, adjusted its posture, placed both items on the shelf, increased its height, and struck the red and white bagged goods."}, {"start_frame": 1190, "end_frame": 1257, "action_text": "rotate the waist while lowering the body", "skill": "Rotate", "language_memory": "The robot rotated its waist, lowered its body, bent over, picked up red and white and green bagged items from the shopping cart, handed over the red and white goods, adjusted its posture, placed both the green and red and white packaged goods on the shelf, increased its height, struck the red and white bagged goods, and decreased its height."}, {"start_frame": 1257, "end_frame": 1314, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot rotated its waist, lowered its body, bent over, picked up red and white and green bagged items from the shopping cart, handed over the red and white goods, adjusted its posture, placed both items on the shelf, increased and decreased its height, and struck the red and white bagged goods."}, {"start_frame": 1314, "end_frame": 1447, "action_text": "pick up the blue packaged item from the shopping cart", "skill": "Pick", "language_memory": "The robot retrieved red and white and green bagged items from the shopping cart and placed them on the shelf."}, {"start_frame": 1447, "end_frame": 1530, "action_text": "hand over the blue bagged product", "skill": "Handover", "language_memory": "The robot retrieved red and white, green, and blue packaged items from the shopping cart and placed the red and white and green goods on the shelf."}, {"start_frame": 1530, "end_frame": 1693, "action_text": "pick up the green bagged item from the shopping cart", "skill": "Pick", "language_memory": "The robot retrieved red and white, green, and blue packaged items from the shopping cart and placed them on the shelf."}, {"start_frame": 1693, "end_frame": 1745, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot retrieved red and white, green, and blue packaged items from the shopping cart and placed them on the shelf."}, {"start_frame": 1745, "end_frame": 1816, "action_text": "rotate the waist while lowering the body", "skill": "Rotate", "language_memory": "The robot retrieved red and white, green, and blue packaged items from the shopping cart and placed them on the shelf."}, {"start_frame": 1816, "end_frame": 2023, "action_text": "place the blue packaged goods on the shelf", "skill": "Place", "language_memory": "The robot retrieved red and white, green, and blue packaged items from the shopping cart and placed them on the shelf."}, {"start_frame": 2023, "end_frame": 2112, "action_text": "increase height", "skill": "AdjustPosture", "language_memory": "The robot retrieved red and white, green, and blue packaged items from the shopping cart and placed them on the shelf."}, {"start_frame": 2112, "end_frame": 2238, "action_text": "place the green packaged goods on the shelf", "skill": "Place", "language_memory": "The robot retrieved red and white, green, and blue packaged items from the shopping cart and placed them on the shelf."}, {"start_frame": 2238, "end_frame": 2350, "action_text": "place the green packaged goods on the target", "skill": "Place", "language_memory": "The robot retrieved red and white, green, and blue packaged items from the shopping cart and successfully placed all of them on the shelf."}, {"start_frame": 2350, "end_frame": 2440, "action_text": "decrease height", "skill": "AdjustPosture", "language_memory": "The robot retrieved red, white, green, and blue packaged items from the shopping cart and successfully placed them on the shelf, with the final green item positioned on the target."}], "detailed_task_instruction": ["Restock the bagged snacks by first rotating your waist and bending over to pick up the red and white packaged product from the shopping cart, handing it over, and then placing it on the shelf after striking it. Next, adjust your posture, rotate your waist while lowering your body, and bend over again to pick up the green bagged item, hand it over, and place it on the shelf. Finally, increase your height, rotate your waist while lowering your body, bend over to pick up the blue packaged item, hand it over, and place it on the shelf. Ensure the green packaged goods are placed on the target as part of the restocking process. Throughout the task, manage your height and posture adjustments to reach the shopping cart and shelf efficiently while maintaining a smooth flow of picking, handing over, and placing the items in the specified order."]}
{"task_id": "task_3641", "episode_index": 54, "video_path": "task_3641/videos/chunk-000/{video_key}/episode_000054.mp4", "tasks": ["Restocking the bagged snack."], "length": 2642, "action_config": [{"start_frame": 8, "end_frame": 94, "action_text": "rotate the waist while lowering the body", "skill": "Rotate", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 94, "end_frame": 153, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot rotated its waist while lowering its body."}, {"start_frame": 153, "end_frame": 313, "action_text": "pick up the white bagged item from the shopping cart", "skill": "Pick", "language_memory": "The robot rotated its waist and lowered its body."}, {"start_frame": 313, "end_frame": 418, "action_text": "hand over the white bagged product", "skill": "Handover", "language_memory": "The robot rotated its waist while lowering its body, bent over, and picked up the white bagged item from the shopping cart."}, {"start_frame": 418, "end_frame": 548, "action_text": "pick up the yellow packaged item from the shopping cart", "skill": "Pick", "language_memory": "The robot rotated its waist while lowering its body, bent over, picked up a white bagged item from the shopping cart, and handed it over."}, {"start_frame": 548, "end_frame": 605, "action_text": "increase height", "skill": "AdjustPosture", "language_memory": "The robot rotated its waist while lowering its body, bent over, picked up a white bagged item and a yellow packaged item from the shopping cart, and handed over the white bagged product."}, {"start_frame": 605, "end_frame": 903, "action_text": "place the yellow packaged goods on the shelf", "skill": "Place", "language_memory": "The robot rotated its waist, lowered its body, picked up a white bagged item and a yellow packaged item from the shopping cart, handed over the white bagged product, and increased its height."}, {"start_frame": 903, "end_frame": 1139, "action_text": "place the white packaged goods on the shelf", "skill": "Place", "language_memory": "The robot rotated its waist, lowered its body, picked up a white bagged item and a yellow packaged item from the shopping cart, handed over the white bagged product, and placed the yellow packaged goods on the shelf."}, {"start_frame": 1139, "end_frame": 1300, "action_text": "place the white bagged goods on the target", "skill": "Place", "language_memory": "The robot picked up white and yellow bagged items from the shopping cart and placed them on the shelf."}, {"start_frame": 1300, "end_frame": 1400, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot rotated its waist, lowered its body, picked up white and yellow packaged items from the shopping cart, increased its height, and placed all items on the shelf and target."}, {"start_frame": 1400, "end_frame": 1697, "action_text": "pick up the white bagged item from the shopping cart", "skill": "Pick", "language_memory": "The robot rotated its waist, lowered its body, and bent over to pick up white and yellow packaged items from the shopping cart, then increased its height to place the yellow goods on the shelf, followed by placing the white packaged and bagged goods on the shelf and target, before bending over again."}, {"start_frame": 1697, "end_frame": 1766, "action_text": "hand over the white bagged product", "skill": "Handover", "language_memory": "The robot rotated its waist, lowered its body, and bent over to pick up white and yellow packaged items from the shopping cart, increased its height, and placed the yellow and white packaged goods on the shelf before placing the white bagged goods on the target and bending over again to pick up another white bagged item."}, {"start_frame": 1766, "end_frame": 1892, "action_text": "pick up the green bagged item from the shopping cart", "skill": "Pick", "language_memory": "The robot rotated its waist, lowered its body, and bent over to pick up white and yellow packaged items from the shopping cart, then increased its height to place the yellow goods on the shelf and the white goods on the shelf and target, before bending over again to pick up and hand over another white bagged item."}, {"start_frame": 1892, "end_frame": 1932, "action_text": "the waist rises while the body ascends", "skill": "AdjustPosture", "language_memory": "The robot rotated its waist, lowered its body, and bent over to pick up white, yellow, and green bagged items from the shopping cart, handed over the white bagged product, increased its height, and placed the yellow and white packaged goods on the shelf before placing the white bagged goods on the target and picking up another white bagged item."}, {"start_frame": 1932, "end_frame": 2054, "action_text": "rotate the waist while lowering the body", "skill": "Rotate", "language_memory": "The robot rotated its waist, bent over, and picked up white, yellow, and green bagged items from the shopping cart, then handed over the white bagged product, increased its height, and placed the yellow and white packaged goods on the shelf, followed by placing the white bagged goods on the target."}, {"start_frame": 2054, "end_frame": 2172, "action_text": "place the green packaged goods on the shelf", "skill": "Place", "language_memory": "The robot rotated its waist, bent over, and picked up white, yellow, and green bagged items from the shopping cart, then handed over the white bagged product, increased its height, and placed the yellow and white packaged goods on the shelf, placed the white bagged goods on the target, and finally rose its waist while ascending its body."}, {"start_frame": 2172, "end_frame": 2400, "action_text": "place the white bagged goods on the shelf", "skill": "Place", "language_memory": "The robot rotated its waist, bent over, and picked up white, yellow, and green bagged items from the shopping cart, then handed over the white bagged product, increased its height, and placed the yellow, white, and green packaged goods on the shelf and target."}, {"start_frame": 2400, "end_frame": 2576, "action_text": "place the white bagged goods on the target", "skill": "Place", "language_memory": "The robot rotated its waist, bent over, and picked up white, yellow, and green bagged items from the shopping cart before handing them over and placing all three packaged goods on the shelf."}, {"start_frame": 2576, "end_frame": 2641, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot has successfully restocked the shelf with white, yellow, and green bagged items by picking them from the shopping cart and placing them on the target."}], "detailed_task_instruction": ["Restock the bagged snacks by first rotating your waist while lowering your body and bending over to pick up a white bagged item from the shopping cart. Hand this item over, then pick up a yellow packaged item from the cart. Increase your height to place the yellow goods on the shelf, followed by placing the white packaged goods on the shelf. Next, place the white bagged goods on the target. Bend over again to pick up another white bagged item from the cart and hand it over. Then, pick up a green bagged item from the shopping cart. As your waist rises and your body ascends, rotate your waist while lowering your body to place the green packaged goods on the shelf. Finally, place the remaining white bagged goods on the shelf and adjust your robot posture."]}
{"task_id": "task_3641", "episode_index": 55, "video_path": "task_3641/videos/chunk-000/{video_key}/episode_000055.mp4", "tasks": ["Restocking the bagged snack."], "length": 1505, "action_config": [{"start_frame": 100, "end_frame": 151, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 151, "end_frame": 386, "action_text": "pick up the red packaged product from the shopping cart", "skill": "Pick", "language_memory": "The robot has bent over."}, {"start_frame": 386, "end_frame": 543, "action_text": "hand over the red packaged product", "skill": "Handover", "language_memory": "The robot bent over and picked up the red packaged product from the shopping cart."}, {"start_frame": 543, "end_frame": 671, "action_text": "pick up the white bagged item from the shopping cart", "skill": "Pick", "language_memory": "The robot bent over, picked up a red packaged product from the shopping cart, and handed it over."}, {"start_frame": 671, "end_frame": 713, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot bent over, picked up and handed over a red packaged product, and picked up a white bagged item from the shopping cart."}, {"start_frame": 713, "end_frame": 1211, "action_text": "place the white bagged goods on the shelf", "skill": "Place", "language_memory": "The robot bent over, picked up and handed over a red packaged product, picked up a white bagged item, and adjusted its posture."}, {"start_frame": 1211, "end_frame": 1438, "action_text": "place the red packaged goods on the shelf", "skill": "Place", "language_memory": "The robot bent over, picked up and handed over a red packaged product, then picked up and placed a white bagged item on the shelf."}, {"start_frame": 1438, "end_frame": 1504, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot bent over, picked up and handed over a red packaged product, picked up a white bagged item, adjusted its posture, and placed both the white bagged goods and the red packaged goods on the shelf."}], "detailed_task_instruction": ["Restock the bagged snacks by first bending over to pick up the red packaged product from the shopping cart and handing it over. Next, adjust your posture, then pick up the white bagged item from the cart. After adjusting your posture again, place the white bagged goods on the shelf, followed by placing the red packaged goods on the shelf."]}
{"task_id": "task_3641", "episode_index": 56, "video_path": "task_3641/videos/chunk-000/{video_key}/episode_000056.mp4", "tasks": ["Restocking the bagged snack."], "length": 2032, "action_config": [{"start_frame": 89, "end_frame": 131, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 131, "end_frame": 284, "action_text": "pick up the red packaged product from the shopping cart", "skill": "Pick", "language_memory": "The robot has bent over."}, {"start_frame": 284, "end_frame": 357, "action_text": "hand over the red bag of adzuki beans", "skill": "Handover", "language_memory": "The robot bent over and picked up the red packaged product from the shopping cart."}, {"start_frame": 357, "end_frame": 461, "action_text": "pick up the white packaged item from the shopping cart", "skill": "Pick", "language_memory": "The robot bent over, picked up the red packaged product from the shopping cart, and handed over the red bag of adzuki beans."}, {"start_frame": 461, "end_frame": 505, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot bent over, picked up the red packaged product and the white packaged item from the shopping cart, and handed over the red bag of adzuki beans."}, {"start_frame": 505, "end_frame": 617, "action_text": "increase height", "skill": "AdjustPosture", "language_memory": "The robot bent over, picked up and handed over the red bag of adzuki beans, picked up a white packaged item, and adjusted its posture."}, {"start_frame": 617, "end_frame": 723, "action_text": "place the white bagged product on the shelf", "skill": "Place", "language_memory": "The robot bent over, picked up and handed over the red bag of adzuki beans, picked up a white packaged item, and adjusted its posture by increasing height."}, {"start_frame": 723, "end_frame": 901, "action_text": "place the red packaged goods onto the shelf", "skill": "Place", "language_memory": "The robot bent over, picked up the red packaged product and the white packaged item from the shopping cart, handed over the red bag of adzuki beans, adjusted its posture, increased its height, and placed the white bagged product on the shelf."}, {"start_frame": 901, "end_frame": 963, "action_text": "place the red bagged goods on the target", "skill": "Place", "language_memory": "The robot picked up red and white packaged products from the shopping cart and placed them onto the shelf."}, {"start_frame": 963, "end_frame": 1051, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot bent over, picked up red and white packaged products from the shopping cart, adjusted its posture and height, and successfully placed the red and white bagged goods onto the shelf and the target."}, {"start_frame": 1051, "end_frame": 1097, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot has successfully retrieved red and white packaged products from the shopping cart and placed them onto the shelf and target."}, {"start_frame": 1097, "end_frame": 1211, "action_text": "pick up the blue packaged item from the shopping cart", "skill": "Pick", "language_memory": "The robot retrieved red and white packaged products from the shopping cart and successfully placed them on the shelf and target."}, {"start_frame": 1211, "end_frame": 1291, "action_text": "hand over the blue bagged product", "skill": "Handover", "language_memory": "The robot has bent over, picked up red, white, and blue packaged items from the shopping cart, adjusted its posture and height, and placed the red and white bagged products onto the shelf and target."}, {"start_frame": 1291, "end_frame": 1438, "action_text": "pick up the yellow bagged item from the shopping cart", "skill": "Pick", "language_memory": "The robot has retrieved red, white, and blue packaged items from the shopping cart and successfully placed them on the shelf and target."}, {"start_frame": 1438, "end_frame": 1491, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot has retrieved red, white, blue, and yellow packaged items from the shopping cart and placed them onto the shelf and target."}, {"start_frame": 1491, "end_frame": 1561, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has restocked the bagged snack shelf by picking up and placing red, white, blue, and yellow packaged items from the shopping cart onto the target shelf."}, {"start_frame": 1561, "end_frame": 1716, "action_text": "place the yellow packaged goods onto the shelf", "skill": "Place", "language_memory": "The robot has restocked the bagged snack shelf by picking up and placing red, white, blue, and yellow packaged items from the shopping cart onto the target shelf."}, {"start_frame": 1716, "end_frame": 1862, "action_text": "place the blue packaged goods onto the shelf", "skill": "Place", "language_memory": "The robot has restocked the bagged snack shelf by retrieving red, white, blue, and yellow packaged items from the shopping cart and placing them onto the shelf."}, {"start_frame": 1862, "end_frame": 1983, "action_text": "pull the blue packaged goods toward the robot", "skill": "Pull", "language_memory": "The robot has restocked the shelf with red, white, blue, and yellow bagged snack products by picking them from the shopping cart and placing them on the target."}, {"start_frame": 1983, "end_frame": 2031, "action_text": "place the reset position", "skill": "Place", "language_memory": "The robot has restocked the shelf with red, white, blue, and yellow bagged products, adjusted its posture, and pulled the blue packaged goods toward itself."}], "detailed_task_instruction": ["Restock the bagged snacks by first bending over to pick up the red packaged adzuki beans from the shopping cart, handing them over, and placing them on the shelf. Next, increase your height, adjust your posture, and rotate your waist to pick up the white packaged item from the cart, then place it on the shelf. Afterward, bend over again, rotate your waist, and pick up the blue packaged item from the cart, handing it over before placing it on the shelf. Finally, pull the blue packaged goods toward you and place the yellow bagged item from the cart onto the shelf, concluding with a return to the reset position."]}
{"task_id": "task_3641", "episode_index": 57, "video_path": "task_3641/videos/chunk-000/{video_key}/episode_000057.mp4", "tasks": ["Restocking the bagged snack."], "length": 2534, "action_config": [{"start_frame": 15, "end_frame": 92, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 92, "end_frame": 143, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot rotated its waist."}, {"start_frame": 143, "end_frame": 281, "action_text": "pick up the purple packaged item from the shopping cart", "skill": "Pick", "language_memory": "The robot rotated its waist and bent over."}, {"start_frame": 281, "end_frame": 379, "action_text": "hand over the purple bagged product", "skill": "Handover", "language_memory": "The robot rotated its waist, bent over, and picked up the purple packaged item from the shopping cart."}, {"start_frame": 379, "end_frame": 498, "action_text": "pick up the green bagged item from the shopping cart", "skill": "Pick", "language_memory": "The robot rotated its waist, bent over, picked up a purple packaged item from the shopping cart, and handed it over."}, {"start_frame": 498, "end_frame": 542, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot rotated its waist, bent over, picked up the purple and green bagged items from the shopping cart, and handed over the purple bagged product."}, {"start_frame": 542, "end_frame": 735, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot rotated its waist, bent over, picked up and handed over a purple bagged item, picked up a green bagged item, and adjusted its posture."}, {"start_frame": 735, "end_frame": 900, "action_text": "place the green packaged goods on the shelf", "skill": "Place", "language_memory": "The robot rotated its waist, bent over, picked up and handed over a purple packaged item, picked up a green bagged item, and adjusted its posture."}, {"start_frame": 900, "end_frame": 1001, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot rotated its waist, bent over, picked up purple and green bagged items from the shopping cart, handed over the purple item, adjusted its posture, and placed the green packaged goods on the shelf."}, {"start_frame": 1001, "end_frame": 1221, "action_text": "place the purple packaged goods on the shelf", "skill": "Place", "language_memory": "The robot rotated its waist, bent over, picked up and handed over a purple packaged item, picked up a green bagged item, and placed the green packaged goods on the shelf while adjusting its posture multiple times."}, {"start_frame": 1221, "end_frame": 1320, "action_text": "place the purple packaged goods on the target", "skill": "Place", "language_memory": "The robot rotated its waist, bent over, and adjusted its posture multiple times to pick up purple and green bagged items from the shopping cart and place them on the shelf."}, {"start_frame": 1320, "end_frame": 1432, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot rotated its waist, bent over, and adjusted its posture multiple times to pick up purple and green bagged items from the shopping cart, hand over the purple item, and subsequently place both the green and purple packaged goods on the shelf and the target."}, {"start_frame": 1432, "end_frame": 1557, "action_text": "pick up the pink packaged item from the shopping cart", "skill": "Pick", "language_memory": "The robot rotated its waist, bent over, picked up purple and green bagged items from the shopping cart, handed over the purple item, adjusted its posture multiple times, and placed both the green and purple packaged goods on the shelf and target."}, {"start_frame": 1557, "end_frame": 1651, "action_text": "hand over the pink bagged product", "skill": "Handover", "language_memory": "The robot rotated its waist, bent over, and picked up purple, green, and pink packaged items from the shopping cart, then handed over the purple bag, adjusted its posture multiple times, placed the green and purple packaged goods on the shelf and target, and finally picked up the pink packaged item."}, {"start_frame": 1651, "end_frame": 1792, "action_text": "pick up the green bagged item from the shopping cart", "skill": "Pick", "language_memory": "The robot rotated its waist, bent over, and picked up purple, green, and pink packaged items from the shopping cart, handing over the purple and pink bags before placing the green and purple goods on the shelf and target, while adjusting its posture multiple times throughout the process."}, {"start_frame": 1792, "end_frame": 1842, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot rotated its waist, bent over, and picked up purple, green, and pink packaged items from the shopping cart, handing over the purple and pink bags before placing the green and purple packaged goods on the shelf and the purple item on the target, while adjusting its posture multiple times."}, {"start_frame": 1842, "end_frame": 2040, "action_text": "place the pink packaged product on the shelf", "skill": "Place", "language_memory": "The robot rotated its waist, bent over, and picked up purple, green, and pink packaged items from the shopping cart, handing them over and placing the purple and green goods on the shelf and the purple goods on the target, while adjusting its posture multiple times."}, {"start_frame": 2040, "end_frame": 2127, "action_text": "hand over the green bagged item", "skill": "Handover", "language_memory": "The robot rotated its waist, bent over, and picked up purple, green, and pink packaged items from the shopping cart, handing them over and placing the green, purple, and pink goods on the shelf and target while adjusting its posture."}, {"start_frame": 2127, "end_frame": 2243, "action_text": "hand over the green bag of black fungus", "skill": "Handover", "language_memory": "The robot rotated its waist, bent over, and adjusted its posture multiple times to pick up purple, green, and pink packaged items from the shopping cart, hand them over, and place the purple and pink goods on the shelf and target, while the green item was handed over."}, {"start_frame": 2243, "end_frame": 2297, "action_text": "hand over the green bagged product", "skill": "Handover", "language_memory": "The robot rotated its waist, bent over, and picked up purple, green, and pink packaged items from the shopping cart, handing them over and placing the purple and pink goods on the shelf and target, while also placing the green packaged goods on the shelf and handing over the green bagged item and the green bag of black fungus."}, {"start_frame": 2297, "end_frame": 2362, "action_text": "hand over the green bagged product", "skill": "Handover", "language_memory": "The robot rotated its waist, bent over, and picked up purple, green, and pink packaged items from the shopping cart, handing them over and placing them on the shelf and target."}, {"start_frame": 2362, "end_frame": 2505, "action_text": "place the green packaged goods on the shelf", "skill": "Place", "language_memory": "The robot rotated its waist, bent over, and adjusted its posture multiple times to pick up purple, green, and pink packaged items from the shopping cart, hand them over, and place the purple and pink goods on the shelf and target, while also handing over multiple green bagged items."}, {"start_frame": 2505, "end_frame": 2533, "action_text": "place the reset position", "skill": "Place", "language_memory": "The robot rotated its waist, bent over, and adjusted its posture multiple times to pick up purple, pink, and green packaged items from the shopping cart, hand them over, and place them on the shelf or target."}], "detailed_task_instruction": ["Rotate your waist and bend over to pick up the purple packaged item from the shopping cart, then hand it over and adjust your posture. Next, pick up the green bagged item, adjust your posture, and place the green packaged goods on the shelf. After adjusting your posture again, place the purple packaged goods on the shelf and then on the target. Bend over once more to pick up the pink packaged item, hand it over, and adjust your posture. Finally, pick up the green bagged item, adjust your posture, and hand over the green bag of black fungus, the green bagged product, and another green bagged product to place the green packaged goods on the shelf, concluding by returning to the reset position."]}
{"task_id": "task_3641", "episode_index": 58, "video_path": "task_3641/videos/chunk-000/{video_key}/episode_000058.mp4", "tasks": ["Restocking the bagged snack."], "length": 1308, "action_config": [{"start_frame": 50, "end_frame": 135, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 135, "end_frame": 177, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot rotated its waist."}, {"start_frame": 177, "end_frame": 310, "action_text": "pick up the white packaged item from the shopping cart", "skill": "Pick", "language_memory": "The robot rotated its waist and bent over."}, {"start_frame": 310, "end_frame": 397, "action_text": "hand over the white bag of dried shrimp", "skill": "Handover", "language_memory": "The robot rotated its waist, bent over, and picked up a white packaged item from the shopping cart."}, {"start_frame": 397, "end_frame": 562, "action_text": "pick up the white bagged item from the shopping cart", "skill": "Pick", "language_memory": "The robot rotated its waist, bent over, picked up a white packaged item from the shopping cart, and handed over the white bag of dried shrimp."}, {"start_frame": 562, "end_frame": 603, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot rotated its waist, bent over, and picked up multiple white packaged items from the shopping cart, handing over one white bag of dried shrimp."}, {"start_frame": 603, "end_frame": 717, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot rotated its waist, bent over, picked up two white packaged items from the shopping cart, handed over one white bag of dried shrimp, and adjusted its posture."}, {"start_frame": 717, "end_frame": 910, "action_text": "place the white packaged goods onto the shelf", "skill": "Place", "language_memory": "The robot rotated its waist, bent over, picked up two white packaged items from the shopping cart, handed over one white bag of dried shrimp, and adjusted its posture."}, {"start_frame": 910, "end_frame": 1008, "action_text": "hand over the white bagged product", "skill": "Handover", "language_memory": "The robot rotated its waist, bent over, picked up white packaged items from the shopping cart, handed one over, and placed the remaining white packaged goods onto the shelf."}, {"start_frame": 1008, "end_frame": 1175, "action_text": "place the white packaged goods onto the shelf", "skill": "Place", "language_memory": "The robot rotated its waist, bent over, picked up white packaged items from the shopping cart, handed them over, adjusted its posture, and placed the white packaged goods onto the shelf."}, {"start_frame": 1175, "end_frame": 1255, "action_text": "place the white bagged goods on the target", "skill": "Place", "language_memory": "The robot rotated its waist, bent over, picked up white packaged items from the shopping cart, handed them over, adjusted its posture, and placed the white packaged goods onto the shelf."}, {"start_frame": 1255, "end_frame": 1307, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot rotated its waist, bent over, and successfully picked up multiple white packaged items from the shopping cart, handing them over and placing them onto the shelf and the target location."}], "detailed_task_instruction": ["Rotate the waist and bend over to pick up a white packaged item from the shopping cart, then adjust the robot posture. Hand over the white bag of dried shrimp and pick up another white bagged item from the cart. Adjust the robot posture again, bend over, and hand over the white bagged product. Place the white packaged goods onto the shelf, then place the white bagged goods on the target shelf."]}
{"task_id": "task_3641", "episode_index": 59, "video_path": "task_3641/videos/chunk-000/{video_key}/episode_000059.mp4", "tasks": ["Restocking the bagged snack."], "length": 2213, "action_config": [{"start_frame": 95, "end_frame": 137, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 137, "end_frame": 363, "action_text": "pick up the pink packaged product from the shopping cart", "skill": "Pick", "language_memory": "The robot has bent over."}, {"start_frame": 363, "end_frame": 463, "action_text": "hand over the bag of pink shrimp chips", "skill": "Handover", "language_memory": "The robot bent over and picked up the pink packaged product from the shopping cart."}, {"start_frame": 463, "end_frame": 593, "action_text": "pick up the yellow packaged item from the shopping cart", "skill": "Pick", "language_memory": "The robot bent over, picked up the pink packaged product from the shopping cart, and handed over the bag of pink shrimp chips."}, {"start_frame": 593, "end_frame": 642, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot bent over, picked up the pink packaged product and the yellow packaged item from the shopping cart, and handed over the bag of pink shrimp chips."}, {"start_frame": 642, "end_frame": 827, "action_text": "place the yellow packaged goods on the shelf", "skill": "Place", "language_memory": "The robot bent over, picked up and handed over the pink packaged shrimp chips, picked up the yellow packaged item, and adjusted its posture."}, {"start_frame": 827, "end_frame": 903, "action_text": "place the yellow packaged goods on the target", "skill": "Place", "language_memory": "The robot bent over, picked up and handed over the pink packaged product, picked up the yellow packaged item, adjusted its posture, and placed the yellow packaged goods on the shelf."}, {"start_frame": 903, "end_frame": 1086, "action_text": "place the pink packaged product on the shelf", "skill": "Place", "language_memory": "The robot bent over, picked up and handed over a pink packaged product, then picked up and placed a yellow packaged item on the shelf and target."}, {"start_frame": 1086, "end_frame": 1210, "action_text": "place the pink shrimp chips in the bag", "skill": "Place", "language_memory": "The robot picked up pink and yellow packaged products from the shopping cart and placed them on the shelf."}, {"start_frame": 1210, "end_frame": 1332, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot picked up pink and yellow packaged items from the shopping cart and placed them on the shelf and target, while also placing the pink shrimp chips into the bag."}, {"start_frame": 1332, "end_frame": 1457, "action_text": "pick up the orange packaged item from the shopping cart", "skill": "Pick", "language_memory": "The robot retrieved pink shrimp chips and yellow packaged items from the shopping cart, adjusted its posture, and successfully placed both items onto the shelf and into the target bag."}, {"start_frame": 1457, "end_frame": 1559, "action_text": "hand over the orange bagged product", "skill": "Handover", "language_memory": "The robot has picked up pink shrimp chips and yellow and orange packaged items from the shopping cart, placed the yellow and pink items on the shelf, and put the pink shrimp chips into the bag."}, {"start_frame": 1559, "end_frame": 1700, "action_text": "pick up the white bagged item from the shopping cart", "skill": "Pick", "language_memory": "The robot retrieved pink shrimp chips, yellow packaged goods, and an orange bagged product from the shopping cart, placed the yellow and pink items on the shelf, and transferred the pink shrimp chips into the bag."}, {"start_frame": 1700, "end_frame": 1735, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot has retrieved pink shrimp chips, yellow and orange packaged items, and a white bagged item from the shopping cart, placed the yellow and pink products on the shelf, and transferred the pink shrimp chips into a bag."}, {"start_frame": 1735, "end_frame": 1950, "action_text": "place the orange bagged product on the shelf", "skill": "Place", "language_memory": "The robot has restocked the bagged snack by retrieving pink shrimp chips, yellow and orange packaged items, and a white bagged item from the shopping cart, placing them on the shelf or target, and organizing the pink shrimp chips into the bag."}, {"start_frame": 1950, "end_frame": 2039, "action_text": "place the orange packaged goods on the target", "skill": "Place", "language_memory": "The robot has restocked the bagged snack by picking up and placing pink shrimp chips, yellow packaged goods, orange bagged products, and white bagged items onto the shelf and target."}, {"start_frame": 2039, "end_frame": 2171, "action_text": "place the white bagged goods onto the shelf", "skill": "Place", "language_memory": "The robot has restocked the bagged snack by retrieving pink shrimp chips, yellow and orange packaged items, and a white bagged item from the shopping cart, placing them on the shelf and target, and organizing the pink shrimp chips into the bag."}, {"start_frame": 2171, "end_frame": 2212, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot has restocked the bagged snack by retrieving pink shrimp chips, yellow, orange, and white packaged items from the shopping cart and placing them onto the shelf and target."}], "detailed_task_instruction": ["Restock the bagged snacks by first bending over to pick up the pink packaged shrimp chips from the shopping cart and handing them over. Next, adjust your posture, pick up the yellow packaged item, and place it on the shelf and target. Then, bend over again to retrieve the orange packaged item, hand it over, adjust your posture, and place the orange bagged product on the shelf and target. Finally, adjust your posture one last time, pick up the white bagged item from the shopping cart, and place it onto the shelf."]}
{"task_id": "task_3641", "episode_index": 60, "video_path": "task_3641/videos/chunk-000/{video_key}/episode_000060.mp4", "tasks": ["Restocking the bagged snack."], "length": 2188, "action_config": [{"start_frame": 34, "end_frame": 151, "action_text": "pick up the white packaged product from the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 151, "end_frame": 288, "action_text": "pick up the pink packaged product from the shelf", "skill": "Pick", "language_memory": "The robot has picked up the white packaged product from the shelf."}, {"start_frame": 288, "end_frame": 409, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot has picked up the white and pink packaged products from the shelf."}, {"start_frame": 409, "end_frame": 479, "action_text": "place the white bagged item into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up the white and pink packaged products from the shelf and bent over."}, {"start_frame": 479, "end_frame": 579, "action_text": "place the pink bagged item into the shopping cart", "skill": "Place", "language_memory": "The robot picked up white and pink packaged products from the shelf, bent over, and placed the white bagged item into the shopping cart."}, {"start_frame": 579, "end_frame": 623, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot picked up white and pink packaged products from the shelf and placed them into the shopping cart."}, {"start_frame": 623, "end_frame": 838, "action_text": "pick up the green packaged product from the shelf", "skill": "Pick", "language_memory": "The robot picked up white and pink packaged products from the shelf and placed them into the shopping cart."}, {"start_frame": 838, "end_frame": 975, "action_text": "pick up the yellow packaged product from the shelf", "skill": "Pick", "language_memory": "The robot has picked up white, pink, and green packaged products from the shelf and placed the white and pink items into the shopping cart."}, {"start_frame": 975, "end_frame": 1086, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot has picked up white, pink, green, and yellow packaged products from the shelf and placed the white and pink items into the shopping cart."}, {"start_frame": 1086, "end_frame": 1154, "action_text": "place the green bagged item into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up white, pink, green, and yellow packaged products from the shelf and placed the white and pink items into the shopping cart."}, {"start_frame": 1154, "end_frame": 1254, "action_text": "place the yellow packaged goods into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up white, pink, green, and yellow packaged products from the shelf and placed all of them into the shopping cart."}, {"start_frame": 1254, "end_frame": 1309, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot has successfully retrieved white, pink, green, and yellow packaged products from the shelf and placed all of them into the shopping cart."}, {"start_frame": 1309, "end_frame": 1521, "action_text": "pick up the white packaged product from the shelf", "skill": "Pick", "language_memory": "The robot has successfully retrieved white, pink, green, and yellow packaged products from the shelf and placed all of them into the shopping cart."}, {"start_frame": 1521, "end_frame": 1753, "action_text": "pick up the green packaged product from the shelf", "skill": "Pick", "language_memory": "The robot has successfully retrieved and placed multiple white, pink, green, and yellow packaged products into the shopping cart, and is currently holding a white packaged product."}, {"start_frame": 1753, "end_frame": 1861, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot has successfully retrieved white, pink, green, and yellow packaged products from the shelf and placed all of them into the shopping cart."}, {"start_frame": 1861, "end_frame": 1939, "action_text": "place the green bagged item into the shopping cart", "skill": "Place", "language_memory": "The robot has successfully retrieved and placed multiple white, pink, green, and yellow packaged products into the shopping cart, with the most recent action being the retrieval of a white and a green packaged product from the shelf."}, {"start_frame": 1939, "end_frame": 2026, "action_text": "place the white bagged goods into the shopping cart", "skill": "Place", "language_memory": "The robot has successfully retrieved and placed multiple white, pink, green, and yellow packaged products into the shopping cart."}, {"start_frame": 2026, "end_frame": 2071, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot successfully retrieved and placed multiple white, pink, green, and yellow packaged products from the shelf into the shopping cart."}, {"start_frame": 2071, "end_frame": 2187, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot successfully retrieved multiple white, pink, green, and yellow packaged products from the shelf and placed them into the shopping cart."}], "detailed_task_instruction": ["Restock the bagged snacks by first picking up the white and pink packaged products from the shelf, bending over, and placing both items into the shopping cart. Next, retrieve the green and yellow packaged products from the shelf, bend over, and place them into the cart. Finally, pick up the remaining white and green packaged products from the shelf, bend over, and place these items into the shopping cart, ensuring the robot adjusts its posture as needed between these sequences to complete the restocking process."]}
{"task_id": "task_3641", "episode_index": 61, "video_path": "task_3641/videos/chunk-000/{video_key}/episode_000061.mp4", "tasks": ["Restocking the bagged snack."], "length": 1368, "action_config": [{"start_frame": 27, "end_frame": 156, "action_text": "pick up the white packaged product from the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 156, "end_frame": 287, "action_text": "pick up the green packaged product from the shelf", "skill": "Pick", "language_memory": "The robot has picked up the white packaged product from the shelf."}, {"start_frame": 287, "end_frame": 413, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot has picked up the white and green packaged products from the shelf."}, {"start_frame": 413, "end_frame": 468, "action_text": "place the green packaged goods into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up white and green packaged products from the shelf and bent over."}, {"start_frame": 468, "end_frame": 543, "action_text": "place the white bagged goods into the shopping cart", "skill": "Place", "language_memory": "The robot picked up white and green packaged products from the shelf, bent over, and placed the green packaged goods into the shopping cart."}, {"start_frame": 543, "end_frame": 583, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot picked up white and green packaged products from the shelf and placed them into the shopping cart."}, {"start_frame": 583, "end_frame": 656, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up white and green packaged products from the shelf, bent over, and placed both items into the shopping cart before adjusting its posture."}, {"start_frame": 656, "end_frame": 787, "action_text": "pick up the blue packaged product from the shelf", "skill": "Pick", "language_memory": "The robot picked up white and green packaged products from the shelf and placed them into the shopping cart."}, {"start_frame": 787, "end_frame": 918, "action_text": "pick up the green packaged product from the shelf", "skill": "Pick", "language_memory": "The robot retrieved white, green, and blue packaged products from the shelf, adjusted its posture, and placed the green and white items into the shopping cart."}, {"start_frame": 918, "end_frame": 1045, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot has retrieved multiple white, green, and blue packaged products from the shelf and placed the green and white items into the shopping cart."}, {"start_frame": 1045, "end_frame": 1119, "action_text": "place the green bagged goods into the shopping cart", "skill": "Place", "language_memory": "The robot has retrieved and placed white, green, and blue packaged products into the shopping cart, while adjusting its posture and rotating its waist."}, {"start_frame": 1119, "end_frame": 1209, "action_text": "place the blue bagged item into the shopping cart", "skill": "Place", "language_memory": "The robot has retrieved multiple white, green, and blue packaged products from the shelf and successfully placed them into the shopping cart."}, {"start_frame": 1209, "end_frame": 1264, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot has successfully retrieved multiple white, green, and blue packaged products from the shelf and placed them into the shopping cart."}, {"start_frame": 1264, "end_frame": 1367, "action_text": "place the reset position", "skill": "Place", "language_memory": "The robot has successfully retrieved multiple white, green, and blue packaged products from the shelf and placed them into the shopping cart, while adjusting its posture and rotating its waist throughout the process."}], "detailed_task_instruction": ["Restock the bagged snacks by first picking up the white and green packaged products from the shelf, bending over, and placing both items into the shopping cart. After adjusting your posture and rotating your waist, proceed to pick up the blue and another green packaged product from the shelf, bend over again, and place these items into the shopping cart as well. Finally, adjust your posture and return to the reset position to complete the restocking process."]}
{"task_id": "task_3641", "episode_index": 62, "video_path": "task_3641/videos/chunk-000/{video_key}/episode_000062.mp4", "tasks": ["Restocking the bagged snack."], "length": 1523, "action_config": [{"start_frame": 20, "end_frame": 124, "action_text": "pick up the pink packaged product from the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 124, "end_frame": 273, "action_text": "pick up the white packaged product from the shelf", "skill": "Pick", "language_memory": "The robot has picked up the pink packaged product from the shelf."}, {"start_frame": 273, "end_frame": 397, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot has picked up the pink and white packaged products from the shelf."}, {"start_frame": 397, "end_frame": 483, "action_text": "place the white bagged item into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up the pink and white packaged products from the shelf and bent over."}, {"start_frame": 483, "end_frame": 580, "action_text": "place the pink packaged item into the shopping cart", "skill": "Place", "language_memory": "The robot picked up a pink packaged product and a white packaged product from the shelf, then placed the white bagged item into the shopping cart."}, {"start_frame": 580, "end_frame": 642, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot picked up pink and white packaged products from the shelf and placed them into the shopping cart."}, {"start_frame": 642, "end_frame": 846, "action_text": "pick up the yellow packaged product from the shelf", "skill": "Pick", "language_memory": "The robot picked up pink and white packaged products from the shelf, bent over, and placed both items into the shopping cart before adjusting its posture."}, {"start_frame": 846, "end_frame": 892, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot retrieved pink, white, and yellow packaged products from the shelf and placed the white and pink items into the shopping cart."}, {"start_frame": 892, "end_frame": 1082, "action_text": "pick up the red packaged product from the shelf", "skill": "Pick", "language_memory": "The robot retrieved pink, white, and yellow packaged products from the shelf and placed them into the shopping cart."}, {"start_frame": 1082, "end_frame": 1206, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot retrieved pink, white, yellow, and red packaged products from the shelf and placed the white and pink items into the shopping cart."}, {"start_frame": 1206, "end_frame": 1268, "action_text": "place the yellow packaged goods into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up pink, white, yellow, and red packaged products from the shelf and placed the white and pink items into the shopping cart."}, {"start_frame": 1268, "end_frame": 1346, "action_text": "place the red bagged product into the shopping cart", "skill": "Place", "language_memory": "The robot retrieved pink, white, yellow, and red packaged products from the shelf and placed them into the shopping cart."}, {"start_frame": 1346, "end_frame": 1396, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot has successfully retrieved pink, white, yellow, and red packaged products from the shelf and placed all of them into the shopping cart."}, {"start_frame": 1396, "end_frame": 1522, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot has successfully retrieved pink, white, yellow, and red packaged products from the shelf and placed all of them into the shopping cart."}], "detailed_task_instruction": ["Restock the bagged snacks by first picking up the pink and white packaged products from the shelf, bending over, and placing both items into the shopping cart. Next, adjust your posture, pick up the yellow and red packaged products from the shelf, bend over again, and place these items into the shopping cart. Finally, adjust your posture to complete the restocking process."]}
{"task_id": "task_3641", "episode_index": 63, "video_path": "task_3641/videos/chunk-000/{video_key}/episode_000063.mp4", "tasks": ["Restocking the bagged snack."], "length": 1602, "action_config": [{"start_frame": 35, "end_frame": 202, "action_text": "pick up the blue packaged product from the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 202, "end_frame": 354, "action_text": "pick up the yellow packaged product from the shelf", "skill": "Pick", "language_memory": "The robot has picked up the blue packaged product from the shelf."}, {"start_frame": 354, "end_frame": 466, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot has picked up the blue and yellow packaged products from the shelf."}, {"start_frame": 466, "end_frame": 528, "action_text": "place the yellow bagged item into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up the blue and yellow packaged products from the shelf and bent over."}, {"start_frame": 528, "end_frame": 603, "action_text": "place the blue packaged product into the shopping cart", "skill": "Place", "language_memory": "The robot picked up blue and yellow packaged products from the shelf, bent over, and placed the yellow bagged item into the shopping cart."}, {"start_frame": 603, "end_frame": 652, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot picked up blue and yellow packaged products from the shelf and placed them into the shopping cart."}, {"start_frame": 652, "end_frame": 786, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot picked up blue and yellow packaged products from the shelf and placed them into the shopping cart."}, {"start_frame": 786, "end_frame": 908, "action_text": "pick up the orange packaged product from the shelf", "skill": "Pick", "language_memory": "The robot picked up blue and yellow packaged products from the shelf and placed them into the shopping cart."}, {"start_frame": 908, "end_frame": 1114, "action_text": "pick up the purple packaged product from the shelf", "skill": "Pick", "language_memory": "The robot has picked up blue, yellow, and orange packaged products from the shelf, placed the yellow and blue items into the shopping cart, and adjusted its posture."}, {"start_frame": 1114, "end_frame": 1230, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot has picked up blue, yellow, orange, and purple packaged products from the shelf and placed the yellow and blue items into the shopping cart."}, {"start_frame": 1230, "end_frame": 1319, "action_text": "place the purple packaged product into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up blue, yellow, orange, and purple packaged products from the shelf and placed the yellow and blue items into the shopping cart."}, {"start_frame": 1319, "end_frame": 1407, "action_text": "place the orange bagged item into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up blue, yellow, orange, and purple packaged products from the shelf and placed the yellow and purple items into the shopping cart."}, {"start_frame": 1407, "end_frame": 1454, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot has successfully retrieved blue, yellow, orange, and purple packaged products from the shelf and placed all of them into the shopping cart."}, {"start_frame": 1454, "end_frame": 1601, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot has successfully retrieved blue, yellow, orange, and purple packaged products from the shelf and placed all of them into the shopping cart."}], "detailed_task_instruction": ["Restock the bagged snacks by first picking up the blue and yellow packaged products from the shelf, bending over, and placing both items into the shopping cart. Next, adjust your posture, then pick up the orange and purple packaged products from the shelf, bend over again, and place the purple and orange bagged items into the shopping cart. Finally, adjust your posture to complete the restocking process."]}
{"task_id": "task_3641", "episode_index": 64, "video_path": "task_3641/videos/chunk-000/{video_key}/episode_000064.mp4", "tasks": ["Restocking the bagged snack."], "length": 1556, "action_config": [{"start_frame": 35, "end_frame": 176, "action_text": "pick up the white packaged product from the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 176, "end_frame": 337, "action_text": "pick up the white packaged product from the shelf", "skill": "Pick", "language_memory": "The robot has picked up the white packaged product from the shelf."}, {"start_frame": 337, "end_frame": 465, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot picked up a white packaged product from the shelf."}, {"start_frame": 465, "end_frame": 531, "action_text": "place the white bagged item into the shopping cart", "skill": "Place", "language_memory": "The robot picked up white packaged products from the shelf and bent over."}, {"start_frame": 531, "end_frame": 606, "action_text": "place the white bagged goods into the shopping cart", "skill": "Place", "language_memory": "The robot picked up white packaged products from the shelf and placed them into the shopping cart."}, {"start_frame": 606, "end_frame": 655, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot picked up white packaged products from the shelf and placed them into the shopping cart."}, {"start_frame": 655, "end_frame": 737, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up white packaged products from the shelf and placed them into the shopping cart."}, {"start_frame": 737, "end_frame": 948, "action_text": "pick up the blue packaged product from the shelf", "skill": "Pick", "language_memory": "The robot successfully retrieved multiple white packaged products from the shelf and placed them into the shopping cart, while adjusting its posture and rotating its waist."}, {"start_frame": 948, "end_frame": 1119, "action_text": "pick up the green packaged product from the shelf", "skill": "Pick", "language_memory": "The robot retrieved white and blue packaged products from the shelf and placed them into the shopping cart."}, {"start_frame": 1119, "end_frame": 1240, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot retrieved white, blue, and green packaged products from the shelf and placed them into the shopping cart."}, {"start_frame": 1240, "end_frame": 1300, "action_text": "place the green bagged item into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up white, blue, and green packaged products from the shelf and placed the white bagged items into the shopping cart."}, {"start_frame": 1300, "end_frame": 1377, "action_text": "place the blue packaged goods into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up white, blue, and green packaged products from the shelf and placed them into the shopping cart."}, {"start_frame": 1377, "end_frame": 1423, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot has successfully retrieved white, blue, and green packaged products from the shelf and placed all of them into the shopping cart."}, {"start_frame": 1423, "end_frame": 1510, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has successfully retrieved multiple white, blue, and green packaged products from the shelf and placed them into the shopping cart."}, {"start_frame": 1510, "end_frame": 1555, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot has successfully retrieved multiple white, blue, and green packaged products from the shelf and placed them into the shopping cart."}], "detailed_task_instruction": ["Restock the bagged snacks by first picking up two white packaged products from the shelf, bending over, and placing both items into the shopping cart. Next, rotate your waist and adjust your posture to reach the blue and green packaged products on the shelf. Bend over to pick up the green item, followed by the blue item, then place both into the shopping cart. Finally, adjust your posture to complete the restocking process."]}
{"task_id": "task_3641", "episode_index": 65, "video_path": "task_3641/videos/chunk-000/{video_key}/episode_000065.mp4", "tasks": ["Restocking the bagged snack."], "length": 1891, "action_config": [{"start_frame": 35, "end_frame": 140, "action_text": "increase height", "skill": "AdjustPosture", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 140, "end_frame": 349, "action_text": "pick up the red and white packaged product from the shelf", "skill": "Pick", "language_memory": "The robot has increased its height."}, {"start_frame": 349, "end_frame": 472, "action_text": "pick up the red packaged product from the shelf", "skill": "Pick", "language_memory": "The robot increased its height and picked up the red and white packaged product from the shelf."}, {"start_frame": 472, "end_frame": 563, "action_text": "decrease height", "skill": "AdjustPosture", "language_memory": "The robot increased its height and picked up red and white packaged products from the shelf."}, {"start_frame": 563, "end_frame": 663, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot adjusted its height, retrieved red and white packaged products from the shelf, and then decreased its height."}, {"start_frame": 663, "end_frame": 724, "action_text": "place the white bagged item into the shopping cart", "skill": "Place", "language_memory": "The robot adjusted its height, picked up red and white packaged products from the shelf, and returned to a lowered position."}, {"start_frame": 724, "end_frame": 826, "action_text": "place the red and white bagged goods into the shopping cart", "skill": "Place", "language_memory": "The robot increased its height, picked up red and white packaged products from the shelf, decreased its height, bent over, and placed a white bagged item into the shopping cart."}, {"start_frame": 826, "end_frame": 868, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot increased its height, picked up red and white packaged products from the shelf, decreased its height, bent over, and placed the white and red bagged items into the shopping cart."}, {"start_frame": 868, "end_frame": 987, "action_text": "increase height", "skill": "AdjustPosture", "language_memory": "The robot increased its height, picked up red and white packaged products from the shelf, picked up a red packaged product from the shelf, decreased its height, bent over, placed white and red bagged items into the shopping cart, and adjusted its posture."}, {"start_frame": 987, "end_frame": 1206, "action_text": "pick up the red packaged product from the shelf", "skill": "Pick", "language_memory": "The robot increased its height, picked up red and white packaged products from the shelf, picked up a red packaged product from the shelf, decreased its height, bent over, placed white and red bagged items into the shopping cart, adjusted its posture, and increased its height."}, {"start_frame": 1206, "end_frame": 1458, "action_text": "pick up the purple packaged product from the shelf", "skill": "Pick", "language_memory": "The robot has increased its height, picked up red and white packaged products from the shelf, decreased its height, bent over, placed white and red bagged items into the shopping cart, adjusted its posture, and picked up another red packaged product from the shelf."}, {"start_frame": 1458, "end_frame": 1536, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot increased height, picked up red, white, and purple packaged products from the shelf, decreased height, bent over, placed white and red bagged items into the shopping cart, adjusted its posture, and picked up another red packaged product."}, {"start_frame": 1536, "end_frame": 1574, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot has increased and decreased its height, bent over, adjusted its posture, and rotated its waist while picking up and placing red, white, and purple packaged products into the shopping cart."}, {"start_frame": 1574, "end_frame": 1642, "action_text": "place the purple packaged product into the shopping cart", "skill": "Place", "language_memory": "The robot has increased and decreased its height, bent over, rotated its waist, adjusted its posture, and successfully picked up and placed red, white, and purple packaged products into the shopping cart."}, {"start_frame": 1642, "end_frame": 1721, "action_text": "place the red packaged goods into the shopping cart", "skill": "Place", "language_memory": "The robot has increased and decreased its height, adjusted its posture, and rotated its waist to pick up red, white, and purple packaged products from the shelf and place them into the shopping cart."}, {"start_frame": 1721, "end_frame": 1771, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot has increased and decreased its height, adjusted its posture, and rotated its waist to pick up and place multiple red, white, and purple packaged products from the shelf into the shopping cart."}, {"start_frame": 1771, "end_frame": 1890, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot adjusted its posture and height, picked up red, white, and purple packaged products from the shelf, and placed all of them into the shopping cart."}], "detailed_task_instruction": ["Adjust your posture and increase your height to reach the upper shelf. Pick up the red and white packaged product, then the red packaged product, and place both into the shopping cart. Decrease your height and bend over to access lower items. Place the white bagged item into the shopping cart. Adjust your posture, increase your height again, and retrieve the red packaged product and the purple packaged product from the shelf. Rotate your waist, bend over, and place the purple packaged product followed by the red packaged goods into the shopping cart. Finally, adjust your robot posture to complete the restocking of the bagged snacks."]}
{"task_id": "task_3641", "episode_index": 66, "video_path": "task_3641/videos/chunk-000/{video_key}/episode_000066.mp4", "tasks": ["Restocking the bagged snack."], "length": 2379, "action_config": [{"start_frame": 99, "end_frame": 148, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 148, "end_frame": 364, "action_text": "pick up the white bagged item from the shopping cart", "skill": "Pick", "language_memory": "The robot has bent over."}, {"start_frame": 364, "end_frame": 667, "action_text": "pick up the purple packaged item from the shopping cart", "skill": "Pick", "language_memory": "The robot bent over and picked up the white bagged item from the shopping cart."}, {"start_frame": 667, "end_frame": 730, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot has bent over and picked up the white bagged item and the purple packaged item from the shopping cart."}, {"start_frame": 730, "end_frame": 813, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot bent over, picked up a white bagged item and a purple packaged item from the shopping cart, and adjusted its posture."}, {"start_frame": 813, "end_frame": 974, "action_text": "place the purple packaged product on the shelf", "skill": "Place", "language_memory": "The robot bent over, picked up a white bagged item and a purple packaged item from the shopping cart, adjusted its posture, and rotated its waist."}, {"start_frame": 974, "end_frame": 1056, "action_text": "increase height", "skill": "AdjustPosture", "language_memory": "The robot bent over, picked up a white bagged item and a purple packaged item from the shopping cart, adjusted its posture, rotated its waist, and placed the purple packaged product on the shelf."}, {"start_frame": 1056, "end_frame": 1279, "action_text": "place the red packaged product on the shelf where the white packaged product is located", "skill": "Place", "language_memory": "The robot bent over, picked up a white bagged item and a purple packaged item from the shopping cart, adjusted its posture, rotated its waist, placed the purple packaged product on the shelf, and increased its height."}, {"start_frame": 1279, "end_frame": 1376, "action_text": "decrease height", "skill": "AdjustPosture", "language_memory": "The robot bent over, picked up white and purple bagged items from the shopping cart, adjusted its posture, rotated its waist, increased its height, and placed the purple and red packaged products on the shelf."}, {"start_frame": 1376, "end_frame": 1480, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot bent over, picked up white and purple bagged items from the shopping cart, adjusted its posture and waist rotation, placed the purple and red packaged products on the shelf, and decreased its height."}, {"start_frame": 1480, "end_frame": 1592, "action_text": "pick up the blue packaged item from the shopping cart", "skill": "Pick", "language_memory": "The robot picked up white and purple packaged items from the shopping cart, adjusted its posture, and placed the purple and red packaged products on the shelf."}, {"start_frame": 1592, "end_frame": 1669, "action_text": "hand over the blue bagged product", "skill": "Handover", "language_memory": "The robot has bent over, picked up white, purple, and blue packaged items from the shopping cart, adjusted its posture and waist rotation, increased and decreased its height, and placed the purple and red packaged products on the shelf."}, {"start_frame": 1669, "end_frame": 1780, "action_text": "pick up the green packaged item from the shopping cart", "skill": "Pick", "language_memory": "The robot has picked up white, purple, red, and blue packaged items from the shopping cart, placed the purple and red items on the shelf, and handed over the blue bagged product."}, {"start_frame": 1780, "end_frame": 1838, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot has bent over, picked up white, purple, red, blue, and green packaged items from the shopping cart, adjusted its posture and height, rotated its waist, placed the purple and red packaged products on the shelf, and handed over the blue bagged product."}, {"start_frame": 1838, "end_frame": 2044, "action_text": "place the green packaged goods onto the shelf", "skill": "Place", "language_memory": "The robot has restocked the shelf with white, purple, red, and blue packaged items from the shopping cart and is currently adjusting its posture."}, {"start_frame": 2044, "end_frame": 2090, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot has restocked the shelf with white, purple, red, blue, and green packaged items from the shopping cart."}, {"start_frame": 2090, "end_frame": 2342, "action_text": "place the blue packaged goods on the shelf", "skill": "Place", "language_memory": "The robot has restocked the shelf with white, purple, red, blue, and green packaged items from the shopping cart."}, {"start_frame": 2342, "end_frame": 2378, "action_text": "place the reset position", "skill": "Place", "language_memory": "The robot has restocked the shelf with white, purple, red, green, and blue packaged items from the shopping cart."}], "detailed_task_instruction": ["Restock the bagged snacks by first bending over to pick up the white bagged item and the purple packaged item from the shopping cart. Adjust your posture, rotate your waist, and increase your height to place the purple packaged product on the shelf. Then, place the red packaged product on the shelf where the white packaged product is located. Decrease your height, bend over again, and pick up the blue packaged item. Hand over the blue bagged product, then pick up the green packaged item. Adjust your posture once more to place the green packaged goods onto the shelf. Finally, bend over to place the blue packaged goods on the shelf and return to the reset position."]}
{"task_id": "task_3641", "episode_index": 67, "video_path": "task_3641/videos/chunk-000/{video_key}/episode_000067.mp4", "tasks": ["Restocking the bagged snack."], "length": 2128, "action_config": [{"start_frame": 38, "end_frame": 112, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 112, "end_frame": 173, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot rotated its waist."}, {"start_frame": 173, "end_frame": 470, "action_text": "pick up the white bagged item from the shopping cart", "skill": "Pick", "language_memory": "The robot rotated its waist and bent over."}, {"start_frame": 470, "end_frame": 553, "action_text": "hand over the white bagged product", "skill": "Handover", "language_memory": "The robot rotated its waist, bent over, and picked up a white bagged item from the shopping cart."}, {"start_frame": 553, "end_frame": 711, "action_text": "pick up the white bagged item from the shopping cart", "skill": "Pick", "language_memory": "The robot rotated its waist, bent over, picked up a white bagged item from the shopping cart, and handed it over."}, {"start_frame": 711, "end_frame": 765, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot rotated its waist, bent over, and picked up multiple white bagged items from the shopping cart before handing one over."}, {"start_frame": 765, "end_frame": 845, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot rotated its waist, bent over, picked up two white bagged items from the shopping cart, handed one over, and adjusted its posture."}, {"start_frame": 845, "end_frame": 1038, "action_text": "place the white packaged goods on the shelf", "skill": "Place", "language_memory": "The robot rotated its waist, bent over, picked up white bagged items from the shopping cart, handed one over, and adjusted its posture."}, {"start_frame": 1038, "end_frame": 1474, "action_text": "place the white bagged goods on the target", "skill": "Place", "language_memory": "The robot rotated its waist, bent over, picked up white bagged items from the shopping cart, handed one over, adjusted its posture, and placed the white packaged goods on the shelf."}, {"start_frame": 1474, "end_frame": 1813, "action_text": "clamp the object", "skill": "Clamp", "language_memory": "The robot rotated its waist, bent over, picked up white bagged items from the shopping cart, handed one over, adjusted its posture, and placed the white packaged goods on the shelf and target."}, {"start_frame": 1813, "end_frame": 1930, "action_text": "place the white bagged product on the shelf", "skill": "Place", "language_memory": "The robot rotated its waist, bent over, picked up white bagged items from the shopping cart, handed one over, adjusted its posture, and placed the white packaged goods on the shelf and target before clamping the object."}, {"start_frame": 1930, "end_frame": 2070, "action_text": "place the white bagged goods on the target", "skill": "Place", "language_memory": "The robot rotated its waist, bent over, picked up white bagged items from the shopping cart, handed one over, adjusted its posture, and successfully placed the white bagged goods on the shelf and target."}, {"start_frame": 2070, "end_frame": 2127, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot has successfully restocked multiple white bagged items onto the shelf and target by picking them from the shopping cart, adjusting its posture, and placing them in their designated locations."}], "detailed_task_instruction": ["Adjust the robot posture and rotate the waist to bend over, then pick up a white bagged item from the shopping cart. Clamp the object and hand it over before placing the white bagged goods on the target shelf. Rotate the waist again, adjust the robot posture, and pick up another white bagged item from the cart. Finally, clamp this second item and place the white packaged goods on the shelf to complete the restocking of the bagged snacks."]}
{"task_id": "task_3641", "episode_index": 68, "video_path": "task_3641/videos/chunk-000/{video_key}/episode_000068.mp4", "tasks": ["Restocking the bagged snack."], "length": 2208, "action_config": [{"start_frame": 25, "end_frame": 95, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 95, "end_frame": 146, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot rotated its waist."}, {"start_frame": 146, "end_frame": 261, "action_text": "pick up the orange packaged item from the shopping cart", "skill": "Pick", "language_memory": "The robot rotated its waist and bent over."}, {"start_frame": 261, "end_frame": 354, "action_text": "hand over the orange bagged product", "skill": "Handover", "language_memory": "The robot rotated its waist, bent over, and picked up an orange packaged item from the shopping cart."}, {"start_frame": 354, "end_frame": 494, "action_text": "pick up the yellow packaged item from the shopping cart", "skill": "Pick", "language_memory": "The robot rotated its waist, bent over, picked up an orange packaged item from the shopping cart, and handed it over."}, {"start_frame": 494, "end_frame": 540, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot rotated its waist, bent over, picked up and handed over an orange packaged item, and picked up a yellow packaged item from the shopping cart."}, {"start_frame": 540, "end_frame": 768, "action_text": "place the yellow bagged product onto the shelf", "skill": "Place", "language_memory": "The robot rotated its waist, bent over, picked up and handed over an orange packaged item, picked up a yellow packaged item, and adjusted its posture."}, {"start_frame": 768, "end_frame": 908, "action_text": "place the orange packaged goods on the shelf", "skill": "Place", "language_memory": "The robot rotated its waist, bent over, picked up and handed over an orange packaged item, picked up a yellow packaged item, adjusted its posture, and placed the yellow bagged product onto the shelf."}, {"start_frame": 908, "end_frame": 986, "action_text": "place the orange packaged goods on the target", "skill": "Place", "language_memory": "The robot rotated its waist, bent over, and picked up orange and yellow packaged items from the shopping cart, then handed over the orange item, adjusted its posture, and placed both the orange and yellow bagged products onto the shelf."}, {"start_frame": 986, "end_frame": 1123, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot rotated its waist, bent over, and picked up orange and yellow packaged items from the shopping cart, then handed over the orange bagged product, adjusted its posture, and placed both the yellow and orange bagged products onto the shelf and the target."}, {"start_frame": 1123, "end_frame": 1262, "action_text": "pick up the red packaged product from the shopping cart", "skill": "Pick", "language_memory": "The robot rotated its waist, bent over, picked up orange and yellow packaged items from the shopping cart, handed over the orange bag, adjusted its posture, and placed both the yellow and orange bagged products onto the shelf and target."}, {"start_frame": 1262, "end_frame": 1348, "action_text": "hand over the red bagged product", "skill": "Handover", "language_memory": "The robot rotated its waist, bent over, and sequentially picked up orange, yellow, and red packaged items from the shopping cart, handing over the orange item, adjusting its posture, and placing the yellow and orange items onto the shelf and target before picking up the red item."}, {"start_frame": 1348, "end_frame": 1532, "action_text": "pick up the white bagged item from the shopping cart", "skill": "Pick", "language_memory": "The robot rotated its waist, bent over, and sequentially picked up orange, yellow, and red packaged items from the shopping cart, handing them over and placing the orange and yellow products onto the shelf and target before picking up the red product."}, {"start_frame": 1532, "end_frame": 1579, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot rotated its waist, bent over, and sequentially picked up orange, yellow, red, and white packaged items from the shopping cart, handing them over and placing the orange, yellow, and red products onto the shelf and target before picking up the white bagged item."}, {"start_frame": 1579, "end_frame": 1690, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot rotated its waist, bent over, and picked up orange, yellow, red, and white packaged items from the shopping cart, handing them over and placing the orange, yellow, and red products onto the shelf and target while adjusting its posture."}, {"start_frame": 1690, "end_frame": 1885, "action_text": "place the white bagged product on the shelf", "skill": "Place", "language_memory": "The robot rotated its waist, bent over, and picked up orange, yellow, red, and white packaged items from the shopping cart, handing them over and placing the orange, yellow, and red products onto the shelf and target while adjusting its posture."}, {"start_frame": 1885, "end_frame": 2046, "action_text": "place the red packaged product on the shelf", "skill": "Place", "language_memory": "The robot rotated its waist, bent over, and sequentially picked up orange, yellow, red, and white packaged items from the shopping cart, handing them over and placing all of them onto the shelf or target."}, {"start_frame": 2046, "end_frame": 2157, "action_text": "place the red packaged goods on the target", "skill": "Place", "language_memory": "The robot rotated its waist, bent over, and sequentially picked up orange, yellow, red, and white packaged items from the shopping cart, handing them over and placing all of them onto the shelf and target."}, {"start_frame": 2157, "end_frame": 2207, "action_text": "place the reset position", "skill": "Place", "language_memory": "The robot rotated its waist, bent over, and sequentially picked up orange, yellow, red, and white packaged items from the shopping cart, handing them over and placing them onto the shelf and target."}], "detailed_task_instruction": ["Restock the bagged snacks by first rotating your waist and bending over to pick up the orange packaged item from the shopping cart. Hand the orange bagged product to the robot, which will adjust its posture and place the item on the shelf and then on the target. Next, bend over again to pick up the yellow packaged item from the cart. The robot will adjust its posture and place the yellow bagged product on the shelf. Then, pick up the red packaged product from the shopping cart and hand it over. The robot will adjust its posture and place the red bagged product on the shelf and then on the target. Finally, pick up the white bagged item from the shopping cart. The robot will adjust its posture and place the white bagged product on the shelf before returning to the reset position."]}
{"task_id": "task_3641", "episode_index": 69, "video_path": "task_3641/videos/chunk-000/{video_key}/episode_000069.mp4", "tasks": ["Restocking the bagged snack."], "length": 3039, "action_config": [{"start_frame": 28, "end_frame": 97, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 97, "end_frame": 145, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot rotated its waist."}, {"start_frame": 145, "end_frame": 279, "action_text": "pick up the blue packaged item from the shopping cart", "skill": "Pick", "language_memory": "The robot rotated its waist and bent over."}, {"start_frame": 279, "end_frame": 420, "action_text": "hand over the blue bagged product", "skill": "Handover", "language_memory": "The robot rotated its waist, bent over, and picked up the blue packaged item from the shopping cart."}, {"start_frame": 420, "end_frame": 601, "action_text": "pick up the red packaged product from the shopping cart", "skill": "Pick", "language_memory": "The robot rotated its waist, bent over, picked up a blue packaged item from the shopping cart, and handed it over."}, {"start_frame": 601, "end_frame": 671, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot rotated its waist, bent over, picked up the blue and red packaged items from the shopping cart, and handed over the blue bagged product."}, {"start_frame": 671, "end_frame": 995, "action_text": "place the blue packaged goods on the shelf", "skill": "Place", "language_memory": "The robot rotated its waist, bent over, picked up and handed over a blue packaged item, picked up a red packaged product, and adjusted its posture."}, {"start_frame": 995, "end_frame": 1226, "action_text": "place the red bagged product on the shelf in the designated spot for red bagged products", "skill": "Place", "language_memory": "The robot rotated its waist, bent over, picked up blue and red packaged items from the shopping cart, handed over the blue bagged product, adjusted its posture, and placed the blue packaged goods on the shelf."}, {"start_frame": 1226, "end_frame": 1350, "action_text": "push the red packaged goods to the adjusted position", "skill": "Push", "language_memory": "The robot rotated its waist, bent over, and picked up blue and red packaged items from the shopping cart before handing over the blue bag and placing both the blue and red packaged goods on the shelf in their designated spots."}, {"start_frame": 1350, "end_frame": 1433, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot rotated its waist, bent over, and picked up blue and red packaged items from the shopping cart before adjusting its posture to place both products on the shelf and push the red item into its designated spot."}, {"start_frame": 1433, "end_frame": 1484, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot rotated its waist, bent over, picked up blue and red packaged items from the shopping cart, handed over the blue bag, adjusted its posture, and placed both blue and red products on the shelf in their designated spots, pushing the red item to the correct position."}, {"start_frame": 1484, "end_frame": 1639, "action_text": "pick up the pink packaged item from the shopping cart", "skill": "Pick", "language_memory": "The robot rotated its waist, bent over, picked up blue and red packaged items from the shopping cart, handed over the blue bag, adjusted its posture, and placed both blue and red bagged products on the shelf in their designated spots, pushing the red product to the adjusted position."}, {"start_frame": 1639, "end_frame": 1746, "action_text": "hand over the pink bagged product", "skill": "Handover", "language_memory": "The robot rotated its waist, bent over, and picked up blue, red, and pink packaged items from the shopping cart; it then handed over the blue bag, adjusted its posture, and placed the blue and red packaged goods on the shelf, pushing the red item to the correct position before picking up the pink item."}, {"start_frame": 1746, "end_frame": 2261, "action_text": "pick up the purple packaged item from the shopping cart", "skill": "Pick", "language_memory": "The robot rotated its waist, bent over, and picked up blue, red, and pink packaged items from the shopping cart, handed over the pink bagged product, placed the blue and red packaged goods on the shelf in their designated spots, and adjusted the red packaged goods to the correct position."}, {"start_frame": 2261, "end_frame": 2325, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot rotated its waist, bent over, and picked up blue, red, and pink packaged items from the shopping cart, handed over the blue and pink bags, adjusted its posture, placed the blue and red goods on the shelf, pushed the red item to the correct position, and picked up a purple packaged item."}, {"start_frame": 2325, "end_frame": 2739, "action_text": "place the purple packaged product on the shelf", "skill": "Place", "language_memory": "The robot rotated its waist, bent over, and picked up blue, red, and pink packaged items from the shopping cart, handing them over before placing the blue and red goods on the shelf and adjusting the red item's position, then picked up a purple packaged item and adjusted its posture."}, {"start_frame": 2739, "end_frame": 2854, "action_text": "place the purple packaged goods on the target", "skill": "Place", "language_memory": "The robot rotated its waist, bent over, and picked up blue, red, pink, and purple packaged items from the shopping cart, handing them over and placing the blue, red, and purple products on the designated shelf spots, with the red item adjusted to its final position."}, {"start_frame": 2854, "end_frame": 2984, "action_text": "place the pink packaged product on the shelf", "skill": "Place", "language_memory": "The robot has restocked the shelf with blue, red, and purple packaged items by retrieving them from the shopping cart and placing them in their designated locations."}, {"start_frame": 2984, "end_frame": 3038, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot has restocked the shelf with blue, red, purple, and pink packaged items by retrieving them from the shopping cart and placing them in their designated locations."}], "detailed_task_instruction": ["Restock the bagged snacks by rotating your waist and bending over to pick up the blue, red, pink, and purple packaged items from the shopping cart. Hand each item to the robot, which will adjust its posture to place the blue goods on the shelf, followed by the red product in its designated spot and pushed into position. The robot will then rotate and bend again to receive the pink and purple items, adjusting its posture to place the purple goods on the shelf and target, and finally placing the pink product on the shelf."]}
{"task_id": "task_3641", "episode_index": 70, "video_path": "task_3641/videos/chunk-000/{video_key}/episode_000070.mp4", "tasks": ["Restocking the bagged snack."], "length": 1435, "action_config": [{"start_frame": 31, "end_frame": 189, "action_text": "pick up the green packaged product from the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 189, "end_frame": 320, "action_text": "pick up the pink packaged product from the shelf", "skill": "Pick", "language_memory": "The robot has picked up the green packaged product from the shelf."}, {"start_frame": 320, "end_frame": 389, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up the green and pink packaged products from the shelf."}, {"start_frame": 389, "end_frame": 444, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot has picked up the green and pink packaged products from the shelf and rotated its waist."}, {"start_frame": 444, "end_frame": 523, "action_text": "place the green bagged goods into the shopping cart", "skill": "Place", "language_memory": "The robot has retrieved the green and pink packaged products from the shelf and adjusted its posture by rotating the waist and bending over."}, {"start_frame": 523, "end_frame": 627, "action_text": "place the pink packaged goods into the shopping cart", "skill": "Place", "language_memory": "The robot picked up green and pink packaged products from the shelf, adjusted its posture by rotating the waist and bending over, and placed the green bagged goods into the shopping cart."}, {"start_frame": 627, "end_frame": 669, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot picked up green and pink packaged products from the shelf, adjusted its posture, and placed both items into the shopping cart."}, {"start_frame": 669, "end_frame": 859, "action_text": "pick up the white packaged product from the shelf", "skill": "Pick", "language_memory": "The robot picked up green and pink packaged products from the shelf, rotated its waist, bent over, and placed both items into the shopping cart before adjusting its posture."}, {"start_frame": 859, "end_frame": 976, "action_text": "pick up the yellow packaged product from the shelf", "skill": "Pick", "language_memory": "The robot retrieved green, pink, and white packaged products from the shelf, adjusted its posture, and placed the green and pink items into the shopping cart."}, {"start_frame": 976, "end_frame": 1092, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot retrieved green, pink, white, and yellow packaged products from the shelf and placed the green and pink items into the shopping cart."}, {"start_frame": 1092, "end_frame": 1155, "action_text": "place the yellow bagged item into the shopping cart", "skill": "Place", "language_memory": "The robot has retrieved green, pink, white, and yellow packaged products from the shelf and placed the green and pink items into the shopping cart."}, {"start_frame": 1155, "end_frame": 1241, "action_text": "place the white bagged goods into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up green, pink, white, and yellow packaged products from the shelf and placed the green, pink, and yellow items into the shopping cart."}, {"start_frame": 1241, "end_frame": 1283, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot retrieved green, pink, yellow, and white packaged products from the shelf and successfully placed all of them into the shopping cart."}, {"start_frame": 1283, "end_frame": 1434, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot has successfully retrieved green, pink, yellow, and white packaged products from the shelf and placed all of them into the shopping cart."}], "detailed_task_instruction": ["Restock the bagged snacks by first picking up the green and pink packaged products from the shelf, rotating your waist, bending over, and placing both items into the shopping cart while adjusting your posture. Next, retrieve the white and yellow packaged products from the shelf, bend over again, and place the yellow item followed by the white item into the shopping cart, ensuring your robot posture is adjusted throughout the process to maintain stability during these movements."]}
{"task_id": "task_3641", "episode_index": 71, "video_path": "task_3641/videos/chunk-000/{video_key}/episode_000071.mp4", "tasks": ["Restocking the bagged snack."], "length": 1850, "action_config": [{"start_frame": 35, "end_frame": 188, "action_text": "pick up the white packaged product from the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 188, "end_frame": 437, "action_text": "pick up the blue packaged product from the shelf", "skill": "Pick", "language_memory": "The robot has picked up the white packaged product from the shelf."}, {"start_frame": 437, "end_frame": 583, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot has picked up the white and blue packaged products from the shelf."}, {"start_frame": 583, "end_frame": 704, "action_text": "place the white bagged goods into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up white and blue packaged products from the shelf and bent over."}, {"start_frame": 704, "end_frame": 815, "action_text": "place the blue packaged product into the shopping cart", "skill": "Place", "language_memory": "The robot picked up white and blue packaged products from the shelf, bent over, and placed the white bagged goods into the shopping cart."}, {"start_frame": 815, "end_frame": 865, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot picked up white and blue packaged products from the shelf and placed them into the shopping cart."}, {"start_frame": 865, "end_frame": 966, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up white and blue packaged products from the shelf, bent over, and placed both items into the shopping cart before adjusting its posture."}, {"start_frame": 966, "end_frame": 1243, "action_text": "pick up the blue packaged product from the shelf", "skill": "Pick", "language_memory": "The robot picked up white and blue packaged products from the shelf and placed them into the shopping cart."}, {"start_frame": 1243, "end_frame": 1366, "action_text": "pick up the white packaged product from the shelf", "skill": "Pick", "language_memory": "The robot retrieved white and blue packaged products from the shelf, placed them into the shopping cart, and adjusted its posture."}, {"start_frame": 1366, "end_frame": 1501, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot has retrieved multiple white and blue packaged products from the shelf and placed them into the shopping cart, while adjusting its posture and rotating its waist during the process."}, {"start_frame": 1501, "end_frame": 1568, "action_text": "place the white bagged item into the shopping cart", "skill": "Place", "language_memory": "The robot has successfully retrieved multiple white and blue packaged products from the shelf and placed them into the shopping cart, while adjusting its posture and rotating its waist during the process."}, {"start_frame": 1568, "end_frame": 1671, "action_text": "place the blue packaged product into the shopping cart", "skill": "Place", "language_memory": "The robot has successfully retrieved multiple white and blue packaged products from the shelf and placed them into the shopping cart."}, {"start_frame": 1671, "end_frame": 1720, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot successfully retrieved multiple white and blue packaged products from the shelf and placed them into the shopping cart."}, {"start_frame": 1720, "end_frame": 1849, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot successfully retrieved multiple white and blue packaged products from the shelf and placed them into the shopping cart, while adjusting its posture and rotating its waist throughout the process."}], "detailed_task_instruction": ["Restock the bagged snacks by first picking up a white packaged product and a blue packaged product from the shelf, bending over, and placing both items into the shopping cart. After adjusting your posture and rotating your waist, repeat the process by picking up another blue packaged product and a white packaged product from the shelf, bending over, and placing these items into the shopping cart as well. Ensure all selected bagged goods are successfully transferred from the shelf to the cart."]}
{"task_id": "task_3641", "episode_index": 72, "video_path": "task_3641/videos/chunk-000/{video_key}/episode_000072.mp4", "tasks": ["Restocking the bagged snack."], "length": 1606, "action_config": [{"start_frame": 28, "end_frame": 172, "action_text": "pick up the pink packaged product from the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 172, "end_frame": 353, "action_text": "pick up the black packaged product from the shelf", "skill": "Pick", "language_memory": "The robot has picked up the pink packaged product from the shelf."}, {"start_frame": 353, "end_frame": 436, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up the pink and black packaged products from the shelf."}, {"start_frame": 436, "end_frame": 489, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot has picked up the pink and black packaged products from the shelf and rotated its waist."}, {"start_frame": 489, "end_frame": 558, "action_text": "place the green bagged goods into the shopping cart", "skill": "Place", "language_memory": "The robot has retrieved the pink and black packaged products from the shelf and adjusted its posture by rotating the waist and bending over."}, {"start_frame": 558, "end_frame": 652, "action_text": "place the pink packaged goods into the shopping cart", "skill": "Place", "language_memory": "The robot picked up pink and black packaged products from the shelf, adjusted its posture by rotating the waist and bending over, and placed the green bagged goods into the shopping cart."}, {"start_frame": 652, "end_frame": 704, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot picked up pink and black packaged products from the shelf, adjusted its posture by rotating the waist and bending over, and placed the green bagged goods and pink packaged goods into the shopping cart."}, {"start_frame": 704, "end_frame": 787, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot retrieved pink and black packaged products from the shelf, adjusted its posture, and placed the green bagged goods and pink packaged goods into the shopping cart."}, {"start_frame": 787, "end_frame": 946, "action_text": "pick up the white packaged product from the shelf", "skill": "Pick", "language_memory": "The robot retrieved pink and black packaged products from the shelf, adjusted its posture, and placed the green bagged goods and pink packaged goods into the shopping cart."}, {"start_frame": 946, "end_frame": 1159, "action_text": "pick up the blue packaged product from the shelf", "skill": "Pick", "language_memory": "The robot retrieved pink, black, and white packaged products from the shelf, adjusted its posture, and placed the green and pink bagged goods into the shopping cart."}, {"start_frame": 1159, "end_frame": 1287, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot retrieved pink, black, white, and blue packaged products from the shelf, adjusted its posture, and placed the green and pink bagged goods into the shopping cart."}, {"start_frame": 1287, "end_frame": 1357, "action_text": "place the blue packaged goods into the shopping cart", "skill": "Place", "language_memory": "The robot retrieved pink, black, white, and blue packaged products from the shelf, placed the green and pink bagged goods into the shopping cart, and adjusted its posture through waist rotations and bending."}, {"start_frame": 1357, "end_frame": 1459, "action_text": "place the white bagged items into the shopping cart", "skill": "Place", "language_memory": "The robot retrieved pink, black, white, and blue packaged products from the shelf and placed the green, pink, and blue bagged goods into the shopping cart while adjusting its posture and rotating its waist."}, {"start_frame": 1459, "end_frame": 1508, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot retrieved pink, black, white, and blue packaged products from the shelf and placed the green, pink, blue, and white bagged items into the shopping cart."}, {"start_frame": 1508, "end_frame": 1605, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot has successfully retrieved pink, black, white, and blue packaged products from the shelf and placed all corresponding green, pink, blue, and white bagged goods into the shopping cart."}], "detailed_task_instruction": ["Restock the bagged snacks by first picking up the pink and black packaged products from the shelf, rotating the waist, bending over, and placing the green bagged goods, pink packaged goods, and black packaged goods into the shopping cart. Next, adjust the robot posture, rotate the waist, pick up the white and blue packaged products from the shelf, bend over, and place the blue packaged goods and white bagged items into the shopping cart. Finally, adjust the robot posture to complete the restocking process."]}
{"task_id": "task_3641", "episode_index": 73, "video_path": "task_3641/videos/chunk-000/{video_key}/episode_000073.mp4", "tasks": ["Restocking the bagged snack."], "length": 2501, "action_config": [{"start_frame": 21, "end_frame": 162, "action_text": "pick up the black packaged product from the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 162, "end_frame": 221, "action_text": "increase height", "skill": "AdjustPosture", "language_memory": "The robot has picked up the black packaged product from the shelf."}, {"start_frame": 221, "end_frame": 322, "action_text": "pick up the orange packaged product from the shelf", "skill": "Pick", "language_memory": "The robot picked up a black packaged product from the shelf and increased its height."}, {"start_frame": 322, "end_frame": 401, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up the black and orange packaged products from the shelf and increased its height."}, {"start_frame": 401, "end_frame": 448, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot has picked up black and orange packaged products from the shelf, adjusted its height, and rotated its waist."}, {"start_frame": 448, "end_frame": 516, "action_text": "place the green bagged item into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up black and orange packaged products from the shelf, adjusted its height, rotated its waist, and bent over."}, {"start_frame": 516, "end_frame": 620, "action_text": "place the orange bagged product into the shopping cart", "skill": "Place", "language_memory": "The robot picked up black and orange packaged products from the shelf, adjusted its posture by increasing height, rotating the waist, and bending over, and placed a green bagged item into the shopping cart."}, {"start_frame": 620, "end_frame": 668, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot picked up black and orange packaged products from the shelf, adjusted its posture, and placed the green and orange bagged items into the shopping cart."}, {"start_frame": 668, "end_frame": 928, "action_text": "pick up the white packaged product from the shelf", "skill": "Pick", "language_memory": "The robot picked up black and orange packaged products from the shelf, adjusted its posture, and placed green and orange bagged items into the shopping cart."}, {"start_frame": 928, "end_frame": 980, "action_text": "increase height", "skill": "AdjustPosture", "language_memory": "The robot has picked up black, orange, and white packaged products from the shelf, placed green and orange bagged items into the shopping cart, and adjusted its posture."}, {"start_frame": 980, "end_frame": 1185, "action_text": "pick up the purple packaged product from the shelf", "skill": "Pick", "language_memory": "The robot retrieved black, orange, and white packaged products from the shelf and placed the green and orange bagged items into the shopping cart while adjusting its posture and height."}, {"start_frame": 1185, "end_frame": 1259, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up black, orange, white, and purple packaged products from the shelf and placed the green and orange bagged items into the shopping cart."}, {"start_frame": 1259, "end_frame": 1319, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot has picked up black, orange, white, and purple packaged products from the shelf and placed the green and orange bagged items into the shopping cart while adjusting its posture and rotating its waist."}, {"start_frame": 1319, "end_frame": 1407, "action_text": "place the purple bagged item into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up black, orange, white, and purple packaged products from the shelf and placed the green and orange bagged items into the shopping cart."}, {"start_frame": 1407, "end_frame": 1523, "action_text": "place the white bagged item into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up black, orange, white, and purple packaged products from the shelf and placed the green, orange, and purple bagged items into the shopping cart."}, {"start_frame": 1523, "end_frame": 1587, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot has picked up black, orange, white, and purple packaged products from the shelf and placed all of them into the shopping cart."}, {"start_frame": 1587, "end_frame": 1741, "action_text": "increase height", "skill": "AdjustPosture", "language_memory": "The robot has successfully retrieved black, orange, green, white, and purple packaged products from the shelf and placed all of them into the shopping cart."}, {"start_frame": 1741, "end_frame": 1945, "action_text": "pick up the red packaged product from the shelf", "skill": "Pick", "language_memory": "The robot has successfully retrieved black, orange, green, white, and purple packaged products from the shelf and placed all of them into the shopping cart."}, {"start_frame": 1945, "end_frame": 2096, "action_text": "pick up the yellow packaged product from the shelf", "skill": "Pick", "language_memory": "The robot has picked up and placed multiple black, orange, green, purple, and white packaged products into the shopping cart, and is currently holding a red packaged product."}, {"start_frame": 2096, "end_frame": 2172, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up black, orange, green, white, purple, and red packaged products from the shelf and placed the green, orange, purple, and white bagged items into the shopping cart, while currently holding the red and yellow packaged products."}, {"start_frame": 2172, "end_frame": 2215, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot has successfully retrieved multiple packaged products from the shelf, adjusted its posture and height as needed, and placed the green, orange, purple, white, red, and yellow items into the shopping cart."}, {"start_frame": 2215, "end_frame": 2275, "action_text": "place the yellow bagged goods into the shopping cart", "skill": "Place", "language_memory": "The robot has successfully retrieved multiple packaged products from the shelf, adjusted its posture and height as needed, and placed the green, orange, purple, and white bagged items into the shopping cart."}, {"start_frame": 2275, "end_frame": 2351, "action_text": "place the red packaged product into the shopping cart", "skill": "Place", "language_memory": "The robot has successfully retrieved multiple packaged products from the shelf, adjusted its posture and height as needed, and placed all collected items into the shopping cart."}, {"start_frame": 2351, "end_frame": 2389, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot has successfully retrieved multiple packaged products of various colors from the shelf and placed them into the shopping cart."}, {"start_frame": 2389, "end_frame": 2457, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has successfully restocked multiple bagged snack items of various colors into the shopping cart by picking them from the shelf and placing them inside."}, {"start_frame": 2457, "end_frame": 2500, "action_text": "place the reset position", "skill": "Place", "language_memory": "The robot has successfully retrieved multiple packaged products of various colors from the shelf and placed them into the shopping cart, while adjusting its posture and orientation throughout the process."}], "detailed_task_instruction": ["Restock the bagged snacks by sequentially retrieving and placing specific items into the shopping cart. First, increase height, rotate your waist, bend over, and pick up the black packaged product from the shelf. Adjust your posture, then increase height again, rotate your waist, bend over, and pick up the orange packaged product. Place both the green and orange bagged items into the shopping cart. Next, adjust your posture, increase height, rotate your waist, bend over, and pick up the white and purple packaged products from the shelf. Place the purple and white bagged items into the cart. Finally, adjust your posture, increase height, rotate your waist, bend over, and pick up the red and yellow packaged products. Place the yellow and red bagged goods into the shopping cart, then rotate your waist to return to the reset position."]}
{"task_id": "task_3641", "episode_index": 74, "video_path": "task_3641/videos/chunk-000/{video_key}/episode_000074.mp4", "tasks": ["Restocking the bagged snack."], "length": 1716, "action_config": [{"start_frame": 21, "end_frame": 172, "action_text": "pick up the black packaged product from the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 172, "end_frame": 363, "action_text": "pick up the pink packaged product from the shelf", "skill": "Pick", "language_memory": "The robot has picked up the black packaged product from the shelf."}, {"start_frame": 363, "end_frame": 444, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up the black and pink packaged products from the shelf."}, {"start_frame": 444, "end_frame": 477, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot has picked up the black and pink packaged products from the shelf and rotated its waist."}, {"start_frame": 477, "end_frame": 550, "action_text": "place the green bagged goods into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up black and pink packaged products from the shelf and adjusted its posture by rotating the waist and bending over."}, {"start_frame": 550, "end_frame": 634, "action_text": "place the pink packaged product into the shopping cart", "skill": "Place", "language_memory": "The robot picked up black and pink packaged products from the shelf, adjusted its posture by rotating the waist and bending over, and placed the green bagged goods into the shopping cart."}, {"start_frame": 634, "end_frame": 674, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot picked up black and pink packaged products from the shelf, adjusted its posture by rotating the waist and bending over, and placed the green bagged goods and pink packaged product into the shopping cart."}, {"start_frame": 674, "end_frame": 749, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up black and pink packaged products from the shelf, rotated its waist, bent over, placed the green bagged goods and pink packaged product into the shopping cart, and adjusted its posture."}, {"start_frame": 749, "end_frame": 794, "action_text": "increase height", "skill": "AdjustPosture", "language_memory": "The robot picked up black and pink packaged products from the shelf, rotated its waist, bent over, placed green bagged goods and the pink packaged product into the shopping cart, and adjusted its posture."}, {"start_frame": 794, "end_frame": 1020, "action_text": "pick up the red packaged product on the left side of the shelf", "skill": "Pick", "language_memory": "The robot retrieved black and pink packaged products from the shelf, adjusted its posture, and placed the green bagged goods and pink packaged product into the shopping cart."}, {"start_frame": 1020, "end_frame": 1286, "action_text": "pick up the red packaged product on the right side of the shelf", "skill": "Pick", "language_memory": "The robot picked up black, pink, and red packaged products from the shelf, placed the green bagged goods and pink packaged product into the shopping cart, and adjusted its posture and height."}, {"start_frame": 1286, "end_frame": 1412, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot retrieved black, pink, and red packaged products from the shelf and placed the green and pink items into the shopping cart while adjusting its posture and height."}, {"start_frame": 1412, "end_frame": 1473, "action_text": "place the red packaged goods into the shopping cart", "skill": "Place", "language_memory": "The robot retrieved black, pink, and red packaged products from the shelf and placed the green and pink items into the shopping cart while adjusting its posture."}, {"start_frame": 1473, "end_frame": 1564, "action_text": "place the red packaged goods into the shopping cart", "skill": "Place", "language_memory": "The robot retrieved black, pink, and red packaged products from the shelf and placed all of them into the shopping cart."}, {"start_frame": 1564, "end_frame": 1610, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot picked up black, pink, and red packaged products from the shelf and placed them into the shopping cart."}, {"start_frame": 1610, "end_frame": 1676, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up black, pink, and red packaged products from the shelf and placed them into the shopping cart."}, {"start_frame": 1676, "end_frame": 1715, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot retrieved black, pink, and red packaged products from the shelf and placed them into the shopping cart."}], "detailed_task_instruction": ["Restock the bagged snacks by first picking up the black and pink packaged products from the shelf, rotating the waist, bending over, and placing the green bagged goods into the shopping cart. Next, place the pink packaged product into the cart, adjust the robot posture, rotate the waist, increase height, and pick up the red packaged products from both the left and right sides of the shelf. After bending over again, place all the red packaged goods into the shopping cart, and finally adjust the robot posture and rotate the waist to complete the restocking process."]}
{"task_id": "task_3641", "episode_index": 75, "video_path": "task_3641/videos/chunk-000/{video_key}/episode_000075.mp4", "tasks": ["Restocking the bagged snack."], "length": 1757, "action_config": [{"start_frame": 17, "end_frame": 176, "action_text": "pick up the black packaged product from the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 176, "end_frame": 369, "action_text": "pick up the blue packaged product from the shelf", "skill": "Pick", "language_memory": "The robot has picked up the black packaged product from the shelf."}, {"start_frame": 369, "end_frame": 505, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot has picked up the black and blue packaged products from the shelf."}, {"start_frame": 505, "end_frame": 584, "action_text": "place the green bagged item into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up the black and blue packaged products from the shelf and bent over."}, {"start_frame": 584, "end_frame": 654, "action_text": "place the blue bagged item into the shopping cart", "skill": "Place", "language_memory": "The robot picked up black and blue packaged products from the shelf, bent over, and placed a green bagged item into the shopping cart."}, {"start_frame": 654, "end_frame": 701, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot picked up black and blue packaged products from the shelf, bent over, and placed green and blue bagged items into the shopping cart."}, {"start_frame": 701, "end_frame": 864, "action_text": "increase height", "skill": "AdjustPosture", "language_memory": "The robot picked up black and blue packaged products from the shelf, bent over, and placed green and blue bagged items into the shopping cart before adjusting its posture."}, {"start_frame": 864, "end_frame": 1091, "action_text": "pick up the red packaged product from the shelf", "skill": "Pick", "language_memory": "The robot retrieved black and blue packaged products from the shelf, bent over, and placed green and blue bagged items into the shopping cart before adjusting its posture and increasing height."}, {"start_frame": 1091, "end_frame": 1216, "action_text": "pick up the green packaged product from the shelf", "skill": "Pick", "language_memory": "The robot retrieved black, blue, and red packaged products from the shelf, adjusted its posture and height, and placed green and blue bagged items into the shopping cart."}, {"start_frame": 1216, "end_frame": 1281, "action_text": "move to the location", "skill": "Navigate", "language_memory": "The robot has retrieved black, blue, red, and green packaged products from the shelf and placed green and blue bagged items into the shopping cart."}, {"start_frame": 1281, "end_frame": 1375, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has retrieved black, blue, red, and green packaged products from the shelf and placed the green and blue bagged items into the shopping cart, while adjusting its posture and moving to a new location."}, {"start_frame": 1375, "end_frame": 1423, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot has retrieved black, blue, red, and green packaged products from the shelf and placed the green and blue bagged items into the shopping cart, while adjusting its posture and position."}, {"start_frame": 1423, "end_frame": 1493, "action_text": "place the green bagged item into the shopping cart", "skill": "Place", "language_memory": "The robot has retrieved black, blue, red, and green packaged products from the shelf and placed the green and blue bagged items into the shopping cart."}, {"start_frame": 1493, "end_frame": 1601, "action_text": "place the red packaged goods into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up black, blue, red, and green packaged products from the shelf and placed green and blue bagged items into the shopping cart."}, {"start_frame": 1601, "end_frame": 1645, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot has successfully retrieved multiple packaged products from the shelf and placed them into the shopping cart."}, {"start_frame": 1645, "end_frame": 1756, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot has successfully retrieved multiple black, blue, red, and green packaged products from the shelf and placed them into the shopping cart."}], "detailed_task_instruction": ["Restock the bagged snacks by first picking up the black and blue packaged products from the shelf, then bending over to place the green and blue bagged items into the shopping cart. Next, adjust your posture and increase your height to reach the red and green packaged products on the shelf. After moving to the correct location and rotating your waist, bend over again to place the green bagged item into the cart, followed by placing the red packaged goods inside. Finally, adjust your robot posture to complete the restocking process."]}
{"task_id": "task_3641", "episode_index": 76, "video_path": "task_3641/videos/chunk-000/{video_key}/episode_000076.mp4", "tasks": ["Restocking the bagged snack."], "length": 2154, "action_config": [{"start_frame": 109, "end_frame": 155, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 155, "end_frame": 298, "action_text": "pick up the green bagged item from the shopping cart", "skill": "Pick", "language_memory": "The robot has bent over."}, {"start_frame": 298, "end_frame": 377, "action_text": "hand over the green bagged goods", "skill": "Handover", "language_memory": "The robot bent over and picked up the green bagged item from the shopping cart."}, {"start_frame": 377, "end_frame": 501, "action_text": "pick up the green bagged item from the shopping cart", "skill": "Pick", "language_memory": "The robot bent over, picked up the green bagged item from the shopping cart, and handed it over."}, {"start_frame": 501, "end_frame": 546, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot bent over, picked up green bagged items from the shopping cart, and handed them over."}, {"start_frame": 546, "end_frame": 598, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot bent over, picked up two green bagged items from the shopping cart, handed one over, and adjusted its posture."}, {"start_frame": 598, "end_frame": 707, "action_text": "place the green packaged goods onto the shelf", "skill": "Place", "language_memory": "The robot bent over, picked up and handed over green bagged items from the shopping cart, and adjusted its posture by rotating the waist."}, {"start_frame": 707, "end_frame": 796, "action_text": "increase height", "skill": "AdjustPosture", "language_memory": "The robot bent over, picked up green bagged items from the shopping cart, handed them over, adjusted its posture, rotated its waist, and placed the green packaged goods onto the shelf."}, {"start_frame": 796, "end_frame": 905, "action_text": "place the green packaged goods on the shelf", "skill": "Place", "language_memory": "The robot picked up green bagged items from the shopping cart and placed them onto the shelf."}, {"start_frame": 905, "end_frame": 1019, "action_text": "place the green packaged goods on the target", "skill": "Place", "language_memory": "The robot picked up green bagged items from the shopping cart and placed them onto the shelf."}, {"start_frame": 1019, "end_frame": 1176, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot successfully retrieved multiple green bagged items from the shopping cart and placed them onto the shelf."}, {"start_frame": 1176, "end_frame": 1254, "action_text": "pick up the blue bagged item from the shopping cart", "skill": "Pick", "language_memory": "The robot picked up green bagged items from the shopping cart and placed them onto the shelf."}, {"start_frame": 1254, "end_frame": 1311, "action_text": "hand over the blue bagged product", "skill": "Handover", "language_memory": "The robot picked up green and blue bagged items from the shopping cart and placed them on the shelf and target."}, {"start_frame": 1311, "end_frame": 1458, "action_text": "pick up the red packaged item from the shopping cart", "skill": "Pick", "language_memory": "The robot picked up green and blue bagged items from the shopping cart, handed them over, and placed the green packaged goods onto the shelf and target."}, {"start_frame": 1458, "end_frame": 1499, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot has picked up green and blue bagged items from the shopping cart, handed them over, and placed the green packaged goods onto the shelf and target, while also picking up a red packaged item from the cart."}, {"start_frame": 1499, "end_frame": 1864, "action_text": "place the blue packaged goods on the shelf", "skill": "Place", "language_memory": "The robot has picked up and placed green, blue, and red bagged items from the shopping cart onto the shelf and target."}, {"start_frame": 1864, "end_frame": 2090, "action_text": "place the red packaged product on the shelf", "skill": "Place", "language_memory": "The robot has restocked green, blue, and red bagged items from the shopping cart onto the shelf."}, {"start_frame": 2090, "end_frame": 2153, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot has successfully retrieved green, blue, and red bagged items from the shopping cart and placed them onto the shelf."}], "detailed_task_instruction": ["Restock the bagged snacks by first bending over to pick up a green bagged item from the shopping cart, handing it over, adjusting your posture, rotating your waist, and placing the green packaged goods onto the shelf. Next, increase your height to place another green packaged item on the shelf and then place a third green packaged item on the target. Afterward, bend over again to pick up a blue bagged item from the shopping cart, hand it over, and place the blue packaged goods on the shelf. Finally, pick up a red packaged item from the shopping cart, adjust your robot posture, and place the red packaged product on the shelf."]}
{"task_id": "task_3641", "episode_index": 77, "video_path": "task_3641/videos/chunk-000/{video_key}/episode_000077.mp4", "tasks": ["Restocking the bagged snack."], "length": 2314, "action_config": [{"start_frame": 23, "end_frame": 92, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 92, "end_frame": 141, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot rotated its waist."}, {"start_frame": 141, "end_frame": 239, "action_text": "pick up the pink packaged product from the shopping cart", "skill": "Pick", "language_memory": "The robot rotated its waist and bent over."}, {"start_frame": 239, "end_frame": 312, "action_text": "hand over the pink bagged product", "skill": "Handover", "language_memory": "The robot rotated its waist, bent over, and picked up the pink packaged product from the shopping cart."}, {"start_frame": 312, "end_frame": 407, "action_text": "pick up the green bagged item from the shopping cart", "skill": "Pick", "language_memory": "The robot rotated its waist, bent over, picked up a pink packaged product from the shopping cart, and handed it over."}, {"start_frame": 407, "end_frame": 444, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot rotated its waist, bent over, picked up the pink and green bagged products from the shopping cart, and handed over the pink bagged product."}, {"start_frame": 444, "end_frame": 637, "action_text": "place the green packaged goods onto the shelf", "skill": "Place", "language_memory": "The robot rotated its waist, bent over, picked up and handed over a pink packaged product, picked up a green bagged item, and adjusted its posture."}, {"start_frame": 637, "end_frame": 843, "action_text": "place the pink packaged product on the shelf", "skill": "Place", "language_memory": "The robot rotated its waist, bent over, picked up pink and green bagged products from the shopping cart, handed over the pink product, adjusted its posture, and placed the green product onto the shelf."}, {"start_frame": 843, "end_frame": 959, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot rotated its waist, bent over, and picked up pink and green bagged products from the shopping cart before adjusting its posture to place both items onto the shelf."}, {"start_frame": 959, "end_frame": 1085, "action_text": "pick up the red packaged item from the shopping cart", "skill": "Pick", "language_memory": "The robot rotated its waist, bent over, picked up pink and green bagged products from the shopping cart, adjusted its posture, and placed both items onto the shelf."}, {"start_frame": 1085, "end_frame": 1157, "action_text": "hand over the red bagged product", "skill": "Handover", "language_memory": "The robot rotated its waist, bent over, and picked up pink, green, and red packaged products from the shopping cart, then placed the green and pink items onto the shelf before bending over again to pick up the red item."}, {"start_frame": 1157, "end_frame": 1290, "action_text": "pick up the purple packaged item from the shopping cart", "skill": "Pick", "language_memory": "The robot rotated its waist, bent over, and picked up pink, green, and red packaged products from the shopping cart, handed them over, adjusted its posture, and placed all three items onto the shelf."}, {"start_frame": 1290, "end_frame": 1338, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot rotated its waist, bent over, and sequentially picked up pink, green, red, and purple packaged products from the shopping cart, handing them over and placing the green, pink, and red items onto the shelf before picking up the purple item."}, {"start_frame": 1338, "end_frame": 1462, "action_text": "increase height", "skill": "AdjustPosture", "language_memory": "The robot rotated its waist, bent over, and sequentially picked up pink, green, red, and purple packaged products from the shopping cart, handing them over and placing all items onto the shelf while adjusting its posture."}, {"start_frame": 1462, "end_frame": 1665, "action_text": "place the purple packaged goods on the shelf", "skill": "Place", "language_memory": "The robot rotated its waist, adjusted its posture, and increased its height to pick up pink, green, red, and purple packaged items from the shopping cart, hand them over, and place them onto the shelf."}, {"start_frame": 1665, "end_frame": 1988, "action_text": "place the purple packaged goods on the target", "skill": "Place", "language_memory": "The robot rotated its waist, bent over, and adjusted its posture to sequentially pick up pink, green, red, and purple packaged items from the shopping cart, handed them over, and placed all four products onto the shelf."}, {"start_frame": 1988, "end_frame": 2160, "action_text": "place the red packaged product on the shelf", "skill": "Place", "language_memory": "The robot rotated its waist, bent over, and picked up pink, green, red, and purple packaged products from the shopping cart, then handed them over, adjusted its posture, increased its height, and placed all the packaged goods onto the shelf and the target."}, {"start_frame": 2160, "end_frame": 2265, "action_text": "place the red packaged goods on the target", "skill": "Place", "language_memory": "The robot rotated its waist, bent over, and adjusted its posture to pick up pink, green, red, and purple packaged items from the shopping cart, then handed them over and placed all of them onto the shelf and target."}, {"start_frame": 2265, "end_frame": 2313, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot rotated its waist, bent over, and adjusted its posture to pick up pink, green, red, and purple packaged products from the shopping cart, then placed them onto the shelf and the target."}], "detailed_task_instruction": ["Rotate the waist and bend over to pick up the pink packaged product from the shopping cart, then hand it over and adjust the robot posture to place the pink bagged product on the shelf. Next, bend over again to pick up the green bagged item from the shopping cart, adjust the robot posture, and place the green packaged goods onto the shelf. Finally, bend over to pick up the red packaged item and the purple packaged item from the shopping cart, handing over the red bagged product and adjusting the robot posture to increase height. Place the purple packaged goods on the shelf and then on the target, followed by placing the red packaged product on the shelf and the red packaged goods on the target, concluding with an adjustment of the robot posture."]}
{"task_id": "task_3641", "episode_index": 78, "video_path": "task_3641/videos/chunk-000/{video_key}/episode_000078.mp4", "tasks": ["Restocking the bagged snack."], "length": 2368, "action_config": [{"start_frame": 94, "end_frame": 140, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 140, "end_frame": 244, "action_text": "pick up the white bagged item from the shopping cart", "skill": "Pick", "language_memory": "The robot has bent over."}, {"start_frame": 244, "end_frame": 334, "action_text": "hand over the white bagged product", "skill": "Handover", "language_memory": "The robot bent over and picked up the white bagged item from the shopping cart."}, {"start_frame": 334, "end_frame": 487, "action_text": "pick up the orange packaged product from the shopping cart", "skill": "Pick", "language_memory": "The robot bent over, picked up a white bagged item from the shopping cart, and handed it over."}, {"start_frame": 487, "end_frame": 536, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot bent over, picked up and handed over a white bagged item, and picked up an orange packaged product from the shopping cart."}, {"start_frame": 536, "end_frame": 715, "action_text": "place the white packaged goods on the shelf", "skill": "Place", "language_memory": "The robot bent over, picked up and handed over a white bagged item, picked up an orange packaged product, and adjusted its posture."}, {"start_frame": 715, "end_frame": 769, "action_text": "hand over the orange bagged item", "skill": "Handover", "language_memory": "The robot bent over, picked up and handed over a white bagged item, picked up an orange packaged product, adjusted its posture, and placed the white packaged goods on the shelf."}, {"start_frame": 769, "end_frame": 923, "action_text": "place the orange packaged goods onto the shelf", "skill": "Place", "language_memory": "The robot picked up white and orange bagged items from the shopping cart, handed them over, and placed the white packaged goods on the shelf."}, {"start_frame": 923, "end_frame": 1035, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot picked up white and orange bagged items from the shopping cart, handed them over, and placed both on the shelf."}, {"start_frame": 1035, "end_frame": 1142, "action_text": "pick up the blue packaged item from the shopping cart", "skill": "Pick", "language_memory": "The robot picked up white and orange bagged items from the shopping cart, handed them over, and placed both on the shelf."}, {"start_frame": 1142, "end_frame": 1240, "action_text": "hand over the blue bagged item", "skill": "Handover", "language_memory": "The robot has picked up white, orange, and blue packaged items from the shopping cart and placed the white and orange goods onto the shelf."}, {"start_frame": 1240, "end_frame": 1397, "action_text": "pick up the green packaged item from the shopping cart", "skill": "Pick", "language_memory": "The robot has picked up white, orange, and blue bagged items from the shopping cart and successfully placed them on the shelf."}, {"start_frame": 1397, "end_frame": 1438, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot has picked up white, orange, blue, and green packaged items from the shopping cart, handed over the white, orange, and blue items, and placed the white and orange goods onto the shelf."}, {"start_frame": 1438, "end_frame": 1508, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has retrieved white, orange, blue, and green packaged items from the shopping cart and successfully placed them onto the shelf."}, {"start_frame": 1508, "end_frame": 1710, "action_text": "place the blue packaged goods onto the shelf", "skill": "Place", "language_memory": "The robot successfully retrieved white, orange, blue, and green packaged items from the shopping cart and placed them onto the shelf."}, {"start_frame": 1710, "end_frame": 2012, "action_text": "place the blue bagged product on the target", "skill": "Place", "language_memory": "The robot has successfully restocked the shelf with white, orange, blue, and green packaged items by retrieving them from the shopping cart and placing them on the shelf."}, {"start_frame": 2012, "end_frame": 2310, "action_text": "place the green packaged product on the shelf", "skill": "Place", "language_memory": "The robot has successfully restocked the shelf by picking up and placing white, orange, blue, and green packaged items from the shopping cart onto the target location."}, {"start_frame": 2310, "end_frame": 2367, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot has successfully restocked the shelf by picking up and placing white, orange, blue, and green packaged items from the shopping cart onto the target locations."}], "detailed_task_instruction": ["Restock the bagged snacks by first bending over to pick up the white bagged item from the shopping cart, handing it over, and placing it on the shelf. Next, adjust your posture, pick up the orange packaged product, hand it over, and place it on the shelf. Then, bend over again to retrieve the blue packaged item, hand it over, rotate your waist, and place the blue goods on the target shelf. Finally, adjust your posture, pick up the green packaged item, hand it over, and place it on the shelf to complete the restocking process."]}
{"task_id": "task_3641", "episode_index": 79, "video_path": "task_3641/videos/chunk-000/{video_key}/episode_000079.mp4", "tasks": ["Restocking the bagged snack."], "length": 2616, "action_config": [{"start_frame": 93, "end_frame": 133, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 133, "end_frame": 223, "action_text": "pick up the blue packaged item from the shopping cart", "skill": "Pick", "language_memory": "The robot has bent over."}, {"start_frame": 223, "end_frame": 299, "action_text": "hand over the blue bagged product", "skill": "Handover", "language_memory": "The robot bent over and picked up the blue packaged item from the shopping cart."}, {"start_frame": 299, "end_frame": 394, "action_text": "pick up the green bagged item from the shopping cart", "skill": "Pick", "language_memory": "The robot bent over, picked up the blue packaged item from the shopping cart, and handed it over."}, {"start_frame": 394, "end_frame": 445, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot bent over, picked up and handed over a blue bagged item, and picked up a green bagged item from the shopping cart."}, {"start_frame": 445, "end_frame": 654, "action_text": "place the green packaged goods onto the shelf", "skill": "Place", "language_memory": "The robot bent over, picked up and handed over a blue bagged item, picked up a green bagged item, and adjusted its posture."}, {"start_frame": 654, "end_frame": 729, "action_text": "place the green packaged goods on the target", "skill": "Place", "language_memory": "The robot bent over, picked up and handed over a blue bagged item, then picked up and placed a green bagged item onto the shelf."}, {"start_frame": 729, "end_frame": 919, "action_text": "place the blue packaged goods on the shelf", "skill": "Place", "language_memory": "The robot bent over, picked up and handed over a blue bagged item, then picked up and placed a green bagged item onto the shelf and target."}, {"start_frame": 919, "end_frame": 1036, "action_text": "place the blue packaged goods on the target", "skill": "Place", "language_memory": "The robot picked up blue and green bagged items from the shopping cart and placed them onto the shelf."}, {"start_frame": 1036, "end_frame": 1150, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot picked up blue and green bagged items from the shopping cart and successfully placed them on the shelf and target."}, {"start_frame": 1150, "end_frame": 1531, "action_text": "pick up the red packaged product from the shopping cart", "skill": "Pick", "language_memory": "The robot picked up blue and green bagged items from the shopping cart and placed them onto the shelf and target."}, {"start_frame": 1531, "end_frame": 1625, "action_text": "hand over the red bagged item", "skill": "Handover", "language_memory": "The robot has retrieved blue, green, and red packaged items from the shopping cart and successfully placed the blue and green items onto the shelf and their respective targets."}, {"start_frame": 1625, "end_frame": 1762, "action_text": "pick up the red packaged product from the shopping cart", "skill": "Pick", "language_memory": "The robot picked up blue, green, and red packaged items from the shopping cart and successfully placed them on the shelf and target."}, {"start_frame": 1762, "end_frame": 1814, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot has restocked the bagged snack shelf by picking up and placing blue, green, and red packaged items from the shopping cart onto the target."}, {"start_frame": 1814, "end_frame": 1956, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot has restocked the bagged snack shelf by picking up and placing blue, green, and red packaged items from the shopping cart onto the target."}, {"start_frame": 1956, "end_frame": 2087, "action_text": "place the red packaged goods onto the shelf", "skill": "Place", "language_memory": "The robot retrieved blue, green, and red packaged items from the shopping cart and successfully placed them on the shelf and target."}, {"start_frame": 2087, "end_frame": 2176, "action_text": "place the red packaged goods on the target", "skill": "Place", "language_memory": "The robot picked up blue, green, and red packaged items from the shopping cart and successfully placed them onto the shelf."}, {"start_frame": 2176, "end_frame": 2266, "action_text": "hand over the red bagged product", "skill": "Handover", "language_memory": "The robot has successfully restocked the bagged snack shelf by picking up and placing blue, green, and red packaged items from the shopping cart onto the target."}, {"start_frame": 2266, "end_frame": 2432, "action_text": "place the red packaged product on the corresponding shelf", "skill": "Place", "language_memory": "The robot successfully retrieved blue, green, and red packaged items from the shopping cart, handed them over, and placed all three on the shelf and target."}, {"start_frame": 2432, "end_frame": 2535, "action_text": "place the red packaged goods on the target", "skill": "Place", "language_memory": "The robot successfully restocked the bagged snack shelf by retrieving and placing blue, green, and red packaged items from the shopping cart onto their corresponding targets and shelves."}, {"start_frame": 2535, "end_frame": 2615, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot successfully retrieved blue, green, and red packaged items from the shopping cart and placed them onto the corresponding shelves and targets."}], "detailed_task_instruction": ["Bend over and pick up the blue packaged item from the shopping cart, then hand it over. Adjust your posture, pick up the green bagged item, and place it onto the shelf and target. Bend over again, pick up the red packaged product, and hand it over. Adjust your posture, pick up the red packaged product once more, and place the red goods onto the shelf and target. Finally, adjust your posture to complete the restocking of the bagged snacks."]}
{"task_id": "task_3641", "episode_index": 80, "video_path": "task_3641/videos/chunk-000/{video_key}/episode_000080.mp4", "tasks": ["Restocking the bagged snack."], "length": 1278, "action_config": [{"start_frame": 30, "end_frame": 100, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 100, "end_frame": 146, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot rotated its waist."}, {"start_frame": 146, "end_frame": 280, "action_text": "pick up the white bagged item from the shopping cart", "skill": "Pick", "language_memory": "The robot rotated its waist and bent over."}, {"start_frame": 280, "end_frame": 378, "action_text": "hand over the white bagged product", "skill": "Handover", "language_memory": "The robot rotated its waist, bent over, and picked up a white bagged item from the shopping cart."}, {"start_frame": 378, "end_frame": 515, "action_text": "pick up the white packaged item from the shopping cart", "skill": "Pick", "language_memory": "The robot rotated its waist, bent over, picked up a white bagged item from the shopping cart, and handed it over."}, {"start_frame": 515, "end_frame": 567, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot rotated its waist, bent over, and picked up two white bagged items from the shopping cart before handing one over."}, {"start_frame": 567, "end_frame": 902, "action_text": "place the white packaged goods on the shelf", "skill": "Place", "language_memory": "The robot rotated its waist, bent over, handed over a white bagged product, picked up another white packaged item from the shopping cart, and adjusted its posture."}, {"start_frame": 902, "end_frame": 942, "action_text": "increase height", "skill": "AdjustPosture", "language_memory": "The robot rotated its waist, bent over, picked up two white bagged items from the shopping cart, handed one over, adjusted its posture, and placed the remaining white packaged goods on the shelf."}, {"start_frame": 942, "end_frame": 1123, "action_text": "place the white packaged goods on the shelf", "skill": "Place", "language_memory": "The robot rotated its waist, bent over, adjusted its posture, and increased its height to pick up two white bagged items from the shopping cart, hand one over, and place the other on the shelf."}, {"start_frame": 1123, "end_frame": 1230, "action_text": "place the white bagged goods on the target", "skill": "Place", "language_memory": "The robot rotated its waist, bent over, adjusted its posture, increased its height, picked up white bagged and packaged items from the shopping cart, handed one over, and placed the remaining white packaged goods on the shelf."}, {"start_frame": 1230, "end_frame": 1277, "action_text": "place the reset position", "skill": "Place", "language_memory": "The robot rotated its waist, bent over, adjusted its posture, increased its height, and successfully picked up and placed multiple white bagged and packaged items from the shopping cart onto the shelf and the target."}], "detailed_task_instruction": ["Rotate your waist and bend over to pick up a white bagged item from the shopping cart, then hand it over. Adjust your posture and increase your height to pick up a white packaged item from the shopping cart. Place both the white bagged goods and the white packaged goods onto the shelf or target. Finally, return to the reset position."]}
{"task_id": "task_3641", "episode_index": 81, "video_path": "task_3641/videos/chunk-000/{video_key}/episode_000081.mp4", "tasks": ["Restocking the bagged snack."], "length": 1274, "action_config": [{"start_frame": 27, "end_frame": 103, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 103, "end_frame": 146, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot rotated its waist."}, {"start_frame": 146, "end_frame": 311, "action_text": "pick up the blue bagged item from the shopping cart", "skill": "Pick", "language_memory": "The robot rotated its waist and bent over."}, {"start_frame": 311, "end_frame": 421, "action_text": "hand over the blue bagged product", "skill": "Handover", "language_memory": "The robot rotated its waist, bent over, and picked up the blue bagged item from the shopping cart."}, {"start_frame": 421, "end_frame": 593, "action_text": "pick up the yellow packaged product from the shopping cart", "skill": "Pick", "language_memory": "The robot rotated its waist, bent over, picked up a blue bagged item from the shopping cart, and handed it over."}, {"start_frame": 593, "end_frame": 650, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot rotated its waist, bent over, picked up the blue bagged item and the yellow packaged product from the shopping cart, and handed over the blue bagged product."}, {"start_frame": 650, "end_frame": 729, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot rotated its waist, bent over, picked up and handed over a blue bagged item, picked up a yellow packaged product, and adjusted its posture."}, {"start_frame": 729, "end_frame": 930, "action_text": "place the yellow bagged product on the shelf in the designated spot for yellow bagged items", "skill": "Place", "language_memory": "The robot rotated its waist, bent over, picked up and handed over a blue bagged item, picked up a yellow packaged product, and adjusted its posture."}, {"start_frame": 930, "end_frame": 1113, "action_text": "place the blue packaged goods on the shelf", "skill": "Place", "language_memory": "The robot rotated its waist, bent over, picked up and handed over a blue bagged item, picked up a yellow packaged product, adjusted its posture, and placed the yellow bagged product on the designated shelf spot."}, {"start_frame": 1113, "end_frame": 1202, "action_text": "place the blue bagged goods on the target", "skill": "Place", "language_memory": "The robot rotated its waist, bent over, picked up blue and yellow bagged items from the shopping cart, handed over the blue item, adjusted its posture, and placed both the yellow and blue products on the shelf in their designated spots."}, {"start_frame": 1202, "end_frame": 1273, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot rotated its waist, bent over, picked up blue and yellow bagged items from the shopping cart, handed over the blue item, adjusted its posture, and successfully placed both the yellow and blue bagged products on the shelf and target."}], "detailed_task_instruction": ["Rotate your waist and bend over to pick up the blue bagged item from the shopping cart, then hand it over. Adjust your posture, rotate your waist again, and pick up the yellow packaged product from the cart. Place the yellow bagged product on the shelf in the designated spot for yellow items. Finally, place the blue packaged goods and the blue bagged goods on the shelf and target respectively, ensuring all items are restocked correctly."]}
{"task_id": "task_3641", "episode_index": 82, "video_path": "task_3641/videos/chunk-000/{video_key}/episode_000082.mp4", "tasks": ["Restocking the bagged snack."], "length": 2049, "action_config": [{"start_frame": 21, "end_frame": 92, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 92, "end_frame": 140, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot rotated its waist."}, {"start_frame": 140, "end_frame": 410, "action_text": "pick up the pink packaged item from the shopping cart", "skill": "Pick", "language_memory": "The robot rotated its waist and bent over."}, {"start_frame": 410, "end_frame": 502, "action_text": "hand over the pink bagged product", "skill": "Handover", "language_memory": "The robot rotated its waist, bent over, and picked up a pink packaged item from the shopping cart."}, {"start_frame": 502, "end_frame": 609, "action_text": "pick up the white bagged item from the shopping cart", "skill": "Pick", "language_memory": "The robot rotated its waist, bent over, picked up a pink packaged item from the shopping cart, and handed it over."}, {"start_frame": 609, "end_frame": 666, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot rotated its waist, bent over, picked up a pink and a white bagged item from the shopping cart, and handed over the pink bagged product."}, {"start_frame": 666, "end_frame": 846, "action_text": "place the white bagged product on the shelf", "skill": "Place", "language_memory": "The robot rotated its waist, bent over, picked up and handed over a pink bagged item, picked up a white bagged item, and adjusted its posture."}, {"start_frame": 846, "end_frame": 1040, "action_text": "place the pink packaged product on the shelf", "skill": "Place", "language_memory": "The robot rotated its waist, bent over, picked up and handed over a pink bagged item, picked up a white bagged item, adjusted its posture, and placed the white bagged product on the shelf."}, {"start_frame": 1040, "end_frame": 1109, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot rotated its waist, bent over, and picked up pink and white bagged items from the shopping cart before adjusting its posture and placing both products on the shelf."}, {"start_frame": 1109, "end_frame": 1150, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot rotated its waist, bent over, picked up pink and white bagged items from the shopping cart, adjusted its posture, and placed both products on the shelf."}, {"start_frame": 1150, "end_frame": 1295, "action_text": "pick up the white bagged item from the shopping cart", "skill": "Pick", "language_memory": "The robot rotated its waist, bent over, picked up pink and white bagged items from the shopping cart, and placed both products on the shelf."}, {"start_frame": 1295, "end_frame": 1397, "action_text": "hand over the white bagged product", "skill": "Handover", "language_memory": "The robot rotated its waist, bent over, picked up pink and white bagged items from the shopping cart, handed over the pink item, adjusted its posture, and placed both the white and pink bagged products on the shelf."}, {"start_frame": 1397, "end_frame": 1544, "action_text": "pick up the green packaged item from the shopping cart", "skill": "Pick", "language_memory": "The robot rotated its waist, bent over, and picked up pink and white bagged items from the shopping cart, handing them over and placing both products on the shelf."}, {"start_frame": 1544, "end_frame": 1592, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot rotated its waist, bent over, and picked up pink, white, and green bagged items from the shopping cart, handed over the pink and white items, adjusted its posture, and placed the white and pink products on the shelf."}, {"start_frame": 1592, "end_frame": 1817, "action_text": "place the green packaged goods onto the shelf", "skill": "Place", "language_memory": "The robot rotated its waist, bent over, and picked up pink, white, and green bagged items from the shopping cart, handing over the pink and white items before placing both on the shelf, then picked up the green item and adjusted its posture."}, {"start_frame": 1817, "end_frame": 2000, "action_text": "place the white packaged goods on the shelf", "skill": "Place", "language_memory": "The robot rotated its waist, bent over, and picked up pink, white, and green packaged items from the shopping cart, handing over the pink and white items before placing all three products onto the shelf."}, {"start_frame": 2000, "end_frame": 2048, "action_text": "place the reset position", "skill": "Place", "language_memory": "The robot rotated its waist, bent over, and picked up pink, white, and green packaged items from the shopping cart, handing over the pink and white items before placing all three bagged products onto the shelf."}], "detailed_task_instruction": ["Restock the bagged snacks by rotating your waist and bending over to pick up the pink packaged item from the shopping cart, handing it over, and placing it on the shelf. Next, adjust your posture, pick up the white bagged item, hand it over, and place it on the shelf. Then, rotate your waist and bend over again to pick up the white bagged item, hand it over, and place it on the shelf. Finally, pick up the green packaged item, adjust your posture, hand it over, and place the green packaged goods onto the shelf before returning to the reset position."]}
{"task_id": "task_3641", "episode_index": 83, "video_path": "task_3641/videos/chunk-000/{video_key}/episode_000083.mp4", "tasks": ["Restocking the bagged snack."], "length": 1520, "action_config": [{"start_frame": 18, "end_frame": 146, "action_text": "pick up the black packaged product from the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 146, "end_frame": 264, "action_text": "pick up the white packaged product from the shelf", "skill": "Pick", "language_memory": "The robot has picked up the black packaged product from the shelf."}, {"start_frame": 264, "end_frame": 383, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot has picked up the black and white packaged products from the shelf."}, {"start_frame": 383, "end_frame": 453, "action_text": "place the green bagged goods into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up black and white packaged products from the shelf and bent over."}, {"start_frame": 453, "end_frame": 555, "action_text": "place the white bagged items into the shopping cart", "skill": "Place", "language_memory": "The robot picked up black and white packaged products from the shelf, bent over, and placed green bagged goods into the shopping cart."}, {"start_frame": 555, "end_frame": 600, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot picked up black and white packaged products from the shelf, bent over, and placed green and white bagged goods into the shopping cart."}, {"start_frame": 600, "end_frame": 694, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up black and white packaged products from the shelf, bent over, and placed green and white bagged goods into the shopping cart before adjusting its posture."}, {"start_frame": 694, "end_frame": 748, "action_text": "increase height", "skill": "AdjustPosture", "language_memory": "The robot retrieved black and white packaged products from the shelf, bent over, and placed green and white bagged goods into the shopping cart before adjusting its posture and rotating its waist."}, {"start_frame": 748, "end_frame": 866, "action_text": "pick up the orange packaged product from the shelf", "skill": "Pick", "language_memory": "The robot retrieved black and white packaged products from the shelf, bent over, and placed green and white bagged goods into the shopping cart before adjusting its posture, rotating its waist, and increasing its height."}, {"start_frame": 866, "end_frame": 1018, "action_text": "pick up the blue packaged product from the shelf", "skill": "Pick", "language_memory": "The robot has picked up black, white, and orange packaged products from the shelf, placed green and white bagged goods into the shopping cart, and adjusted its posture and height."}, {"start_frame": 1018, "end_frame": 1146, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot has retrieved black, white, orange, and blue packaged products from the shelf and placed green and white bagged goods into the shopping cart, while adjusting its posture and height."}, {"start_frame": 1146, "end_frame": 1224, "action_text": "place the blue bagged item into the shopping cart", "skill": "Place", "language_memory": "The robot retrieved black, white, orange, and blue packaged products from the shelf, adjusted its posture and height, and placed green and white bagged goods into the shopping cart."}, {"start_frame": 1224, "end_frame": 1326, "action_text": "place the orange bagged item into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up black, white, orange, and blue packaged products from the shelf and placed green, white, and blue bagged goods into the shopping cart, while adjusting its posture and height throughout the process."}, {"start_frame": 1326, "end_frame": 1384, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot has picked up black, white, orange, and blue packaged products from the shelf and placed the green, white, blue, and orange bagged goods into the shopping cart."}, {"start_frame": 1384, "end_frame": 1519, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot has successfully retrieved black, white, green, orange, and blue packaged products from the shelf and placed all corresponding bagged items into the shopping cart."}], "detailed_task_instruction": ["Restock the bagged snacks by first picking up the black and white packaged products from the shelf, bending over, and placing the green and white bagged items into the shopping cart. Next, adjust your posture, rotate your waist, and increase your height. Then, pick up the orange and blue packaged products from the shelf, bend over again, and place the blue and orange bagged items into the shopping cart. Finally, adjust your robot posture to complete the restocking process."]}
{"task_id": "task_3641", "episode_index": 84, "video_path": "task_3641/videos/chunk-000/{video_key}/episode_000084.mp4", "tasks": ["Restocking the bagged snack."], "length": 1501, "action_config": [{"start_frame": 23, "end_frame": 155, "action_text": "pick up the white packaged product on the right side of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 155, "end_frame": 321, "action_text": "pick up the white bagged product on the left side of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the white packaged product from the right side of the shelf."}, {"start_frame": 321, "end_frame": 429, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot has picked up two white packaged products from the shelf."}, {"start_frame": 429, "end_frame": 497, "action_text": "place the white bagged item into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up two white packaged products from the shelf and bent over."}, {"start_frame": 497, "end_frame": 589, "action_text": "place the white packaged goods into the shopping cart", "skill": "Place", "language_memory": "The robot picked up two white packaged products from the shelf and placed them into the shopping cart."}, {"start_frame": 589, "end_frame": 636, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot picked up white packaged and bagged products from the shelf and placed them into the shopping cart."}, {"start_frame": 636, "end_frame": 888, "action_text": "pick up the pink packaged product from the shelf", "skill": "Pick", "language_memory": "The robot picked up white packaged and bagged products from the shelf, bent over, and placed them into the shopping cart before adjusting its posture."}, {"start_frame": 888, "end_frame": 1004, "action_text": "pick up the green packaged product from the shelf", "skill": "Pick", "language_memory": "The robot picked up white packaged and bagged products from the shelf, placed them into the shopping cart, adjusted its posture, and picked up a pink packaged product."}, {"start_frame": 1004, "end_frame": 1118, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot has picked up white, pink, and green packaged products from the shelf and placed the white items into the shopping cart."}, {"start_frame": 1118, "end_frame": 1182, "action_text": "place the green bagged goods into the shopping cart", "skill": "Place", "language_memory": "The robot picked up white, pink, and green packaged products from the shelf and placed them into the shopping cart."}, {"start_frame": 1182, "end_frame": 1285, "action_text": "place the pink bagged item into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up white, pink, and green packaged products from the shelf and placed the white and green items into the shopping cart."}, {"start_frame": 1285, "end_frame": 1338, "action_text": "increase height", "skill": "AdjustPosture", "language_memory": "The robot has picked up white, pink, and green packaged products from the shelf and placed all of them into the shopping cart."}, {"start_frame": 1338, "end_frame": 1500, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot has picked up white, pink, and green packaged products from the shelf and placed all of them into the shopping cart."}], "detailed_task_instruction": ["Restock the bagged snacks by first picking up the white packaged product from the right side of the shelf and the white bagged product from the left side. Bend over to place both white items into the shopping cart, then adjust your posture. Next, pick up the pink packaged product and the green packaged product from the shelf. Bend over again to place the green bagged goods followed by the pink bagged item into the shopping cart. Finally, increase your height and adjust your robot posture to complete the restocking process."]}
{"task_id": "task_3641", "episode_index": 85, "video_path": "task_3641/videos/chunk-000/{video_key}/episode_000085.mp4", "tasks": ["Restocking the bagged snack."], "length": 1841, "action_config": [{"start_frame": 37, "end_frame": 201, "action_text": "pick up the blue packaged product from the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 201, "end_frame": 393, "action_text": "pick up the white packaged product from the shelf", "skill": "Pick", "language_memory": "The robot has picked up the blue packaged product from the shelf."}, {"start_frame": 393, "end_frame": 519, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot has picked up the blue and white packaged products from the shelf."}, {"start_frame": 519, "end_frame": 610, "action_text": "place the white bagged goods into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up the blue and white packaged products from the shelf and bent over."}, {"start_frame": 610, "end_frame": 737, "action_text": "place the blue bagged item into the shopping cart", "skill": "Place", "language_memory": "The robot picked up blue and white packaged products from the shelf, bent over, and placed the white bagged goods into the shopping cart."}, {"start_frame": 737, "end_frame": 794, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot picked up blue and white packaged products from the shelf and placed them into the shopping cart."}, {"start_frame": 794, "end_frame": 889, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up blue and white packaged products from the shelf and placed them into the shopping cart."}, {"start_frame": 889, "end_frame": 976, "action_text": "increase height", "skill": "AdjustPosture", "language_memory": "The robot picked up blue and white packaged products from the shelf and placed them into the shopping cart, followed by adjusting its posture and rotating its waist."}, {"start_frame": 976, "end_frame": 1227, "action_text": "pick up the red packaged product from the shelf", "skill": "Pick", "language_memory": "The robot picked up blue and white packaged products from the shelf and placed them into the shopping cart."}, {"start_frame": 1227, "end_frame": 1394, "action_text": "pick up the white packaged product from the shelf", "skill": "Pick", "language_memory": "The robot has picked up blue, white, and red packaged products from the shelf and placed the white and blue items into the shopping cart."}, {"start_frame": 1394, "end_frame": 1479, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has retrieved multiple blue, white, and red packaged products from the shelf and successfully placed the white and blue items into the shopping cart."}, {"start_frame": 1479, "end_frame": 1513, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot has successfully retrieved multiple blue, white, and red packaged products from the shelf and placed the white and blue items into the shopping cart, while adjusting its posture and rotating its waist."}, {"start_frame": 1513, "end_frame": 1569, "action_text": "place the white bagged goods into the shopping cart", "skill": "Place", "language_memory": "The robot has successfully retrieved multiple blue, white, and red packaged products from the shelf and placed the white and blue items into the shopping cart, while currently adjusting its posture and rotating its waist to reach for additional items."}, {"start_frame": 1569, "end_frame": 1656, "action_text": "place the red packaged product into the shopping cart", "skill": "Place", "language_memory": "The robot has successfully retrieved multiple blue, white, and red packaged products from the shelf and placed them into the shopping cart."}, {"start_frame": 1656, "end_frame": 1691, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot has successfully retrieved multiple blue, white, and red packaged products from the shelf and placed them into the shopping cart."}, {"start_frame": 1691, "end_frame": 1840, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot has successfully retrieved multiple blue, white, and red packaged products from the shelf and placed them into the shopping cart."}], "detailed_task_instruction": ["Restock the bagged snacks by first picking up the blue and white packaged products from the shelf, bending over, and placing both items into the shopping cart. Next, adjust your posture, rotate your waist, and increase your height to reach the red packaged product on the shelf. After picking up the red item, bend over again to place it in the cart. Finally, pick up another white packaged product from the shelf, bend over, and place it into the shopping cart to complete the restocking process."]}
{"task_id": "task_3641", "episode_index": 86, "video_path": "task_3641/videos/chunk-000/{video_key}/episode_000086.mp4", "tasks": ["Restocking the bagged snack."], "length": 1566, "action_config": [{"start_frame": 33, "end_frame": 179, "action_text": "pick up the black packaged product from the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 179, "end_frame": 366, "action_text": "pick up the pink packaged product from the shelf", "skill": "Pick", "language_memory": "The robot has picked up the black packaged product from the shelf."}, {"start_frame": 366, "end_frame": 491, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot has picked up the black and pink packaged products from the shelf."}, {"start_frame": 491, "end_frame": 566, "action_text": "place the green bagged goods into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up the black and pink packaged products from the shelf and bent over."}, {"start_frame": 566, "end_frame": 666, "action_text": "place the pink packaged product into the shopping cart", "skill": "Place", "language_memory": "The robot picked up black and pink packaged products from the shelf, bent over, and placed green bagged goods into the shopping cart."}, {"start_frame": 666, "end_frame": 714, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot picked up black and pink packaged products from the shelf, bent over, and placed the green bagged goods and pink packaged product into the shopping cart."}, {"start_frame": 714, "end_frame": 972, "action_text": "pick up the white packaged product from the shelf", "skill": "Pick", "language_memory": "The robot picked up black and pink packaged products from the shelf, bent over, placed the green bagged goods and pink packaged product into the shopping cart, and adjusted its posture."}, {"start_frame": 972, "end_frame": 1141, "action_text": "pick up the black packaged product from the shelf", "skill": "Pick", "language_memory": "The robot retrieved black, pink, and white packaged products from the shelf, adjusted its posture, and placed the green bagged goods and pink packaged product into the shopping cart."}, {"start_frame": 1141, "end_frame": 1214, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot retrieved black, pink, and white packaged products from the shelf, adjusted its posture, and placed the green bagged goods and pink packaged product into the shopping cart."}, {"start_frame": 1214, "end_frame": 1256, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot retrieved black, pink, and white packaged products from the shelf, adjusted its posture, and placed the green bagged goods and pink packaged product into the shopping cart."}, {"start_frame": 1256, "end_frame": 1321, "action_text": "place the green bagged item into the shopping cart", "skill": "Place", "language_memory": "The robot has retrieved multiple packaged products from the shelf and placed the green bagged goods and pink packaged product into the shopping cart."}, {"start_frame": 1321, "end_frame": 1386, "action_text": "place the white bagged goods into the shopping cart", "skill": "Place", "language_memory": "The robot has retrieved multiple packaged products from the shelf and placed green bagged goods and pink packaged items into the shopping cart."}, {"start_frame": 1386, "end_frame": 1437, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot has successfully retrieved multiple packaged products from the shelf and placed various bagged goods into the shopping cart."}, {"start_frame": 1437, "end_frame": 1565, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot has retrieved multiple packaged products from the shelf and successfully placed green, pink, white, and black bagged items into the shopping cart while adjusting its posture."}], "detailed_task_instruction": ["Restock the bagged snacks by first picking up the black and pink packaged products from the shelf, bending over, and placing the green bagged goods into the shopping cart. Adjust your posture, then pick up the white packaged product from the shelf. Rotate your waist, bend over again, and place the green bagged item and the white bagged goods into the shopping cart. Finally, adjust your robot posture to complete the restocking process."]}
{"task_id": "task_3641", "episode_index": 87, "video_path": "task_3641/videos/chunk-000/{video_key}/episode_000087.mp4", "tasks": ["Restocking the bagged snack."], "length": 2053, "action_config": [{"start_frame": 75, "end_frame": 159, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 159, "end_frame": 208, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot rotated its waist."}, {"start_frame": 208, "end_frame": 309, "action_text": "pick up the green bagged item from the shopping cart", "skill": "Pick", "language_memory": "The robot rotated its waist and bent over."}, {"start_frame": 309, "end_frame": 446, "action_text": "pick up the pink packaged item from the shopping cart", "skill": "Pick", "language_memory": "The robot rotated its waist, bent over, and picked up the green bagged item from the shopping cart."}, {"start_frame": 446, "end_frame": 500, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot rotated its waist, bent over, and picked up the green bagged item and the pink packaged item from the shopping cart."}, {"start_frame": 500, "end_frame": 751, "action_text": "place the green packaged goods on the shelf in the designated area for green packaged goods", "skill": "Place", "language_memory": "The robot rotated its waist, bent over, picked up the green bagged item and the pink packaged item from the shopping cart, and adjusted its posture."}, {"start_frame": 751, "end_frame": 980, "action_text": "place the pink packaged product on the shelf", "skill": "Place", "language_memory": "The robot rotated its waist, bent over, and picked up green and pink packaged items from the shopping cart before adjusting its posture and placing the green packaged goods on the designated shelf."}, {"start_frame": 980, "end_frame": 1108, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot rotated its waist, bent over, and picked up green and pink packaged items from the shopping cart before adjusting its posture and placing both items on their respective shelves."}, {"start_frame": 1108, "end_frame": 1391, "action_text": "pick up the green packaged item from the shopping cart", "skill": "Pick", "language_memory": "The robot rotated its waist, bent over, picked up green and pink bagged items from the shopping cart, adjusted its posture, and placed both items on their respective designated shelves."}, {"start_frame": 1391, "end_frame": 1451, "action_text": "hand over the green bagged item", "skill": "Handover", "language_memory": "The robot rotated its waist, bent over, and picked up green and pink packaged items from the shopping cart, adjusted its posture, and placed the green and pink packaged goods on their respective designated shelves."}, {"start_frame": 1451, "end_frame": 1564, "action_text": "pick up the green bagged item from the shopping cart", "skill": "Pick", "language_memory": "The robot rotated its waist, bent over, and picked up green and pink packaged items from the shopping cart, adjusted its posture, placed the green and pink items on their respective shelves, and handed over the green bagged item."}, {"start_frame": 1564, "end_frame": 1615, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot rotated its waist, adjusted its posture, and picked up multiple green and pink packaged items from the shopping cart, placing the green and pink goods on their respective shelves and handing over a green bagged item."}, {"start_frame": 1615, "end_frame": 1786, "action_text": "place the green packaged goods onto the shelf", "skill": "Place", "language_memory": "The robot rotated its waist, bent over, and adjusted its posture to pick up green and pink packaged items from the shopping cart, placing the green and pink goods on their respective shelves and handing over a green bagged item."}, {"start_frame": 1786, "end_frame": 1838, "action_text": "hand over the green bagged product", "skill": "Handover", "language_memory": "The robot rotated its waist, adjusted its posture, bent over, and repeatedly picked up green and pink packaged items from the shopping cart to place them on the designated shelves, while also handing over a green bagged item."}, {"start_frame": 1838, "end_frame": 1950, "action_text": "place the green packaged goods onto the shelf", "skill": "Place", "language_memory": "The robot rotated its waist, adjusted its posture, bent over, and repeatedly picked up green and pink packaged items from the shopping cart to place them on the designated shelves and hand over the green bagged items."}, {"start_frame": 1950, "end_frame": 2015, "action_text": "place the green packaged goods on the target", "skill": "Place", "language_memory": "The robot rotated its waist, adjusted its posture, bent over, and repeatedly picked up green and pink packaged items from the shopping cart to place them on the designated shelves, while also handing over green bagged items."}, {"start_frame": 2015, "end_frame": 2052, "action_text": "place the reset position", "skill": "Place", "language_memory": "The robot rotated its waist, adjusted its posture, and repeatedly picked up green and pink packaged items from the shopping cart to place them on the designated shelves and target areas, while also handing over green bagged items."}], "detailed_task_instruction": ["Rotate the waist and bend over to pick up a green bagged item and a pink packaged item from the shopping cart. Adjust the robot posture and place the pink packaged product on the shelf. Bend over again to retrieve another green bagged item. Adjust the posture once more, then pick up a third green bagged item. Place the first green bagged item on the shelf in the designated area for green packaged goods. Hand over the second green bagged item. Pick up the third green bagged item, adjust the posture, and place it on the shelf. Finally, hand over the third green bagged product, place the remaining green packaged goods onto the shelf and the target, and return to the reset position."]}
{"task_id": "task_3641", "episode_index": 88, "video_path": "task_3641/videos/chunk-000/{video_key}/episode_000088.mp4", "tasks": ["Restocking the bagged snack."], "length": 2257, "action_config": [{"start_frame": 33, "end_frame": 107, "action_text": "move to the target location", "skill": "Navigate", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 107, "end_frame": 159, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot has moved to the target location."}, {"start_frame": 159, "end_frame": 251, "action_text": "pick up the blue packaged item from the shopping cart", "skill": "Pick", "language_memory": "The robot has moved to the target location and bent over."}, {"start_frame": 251, "end_frame": 331, "action_text": "hand over the blue bagged product", "skill": "Handover", "language_memory": "The robot has moved to the target location, bent over, and picked up the blue packaged item from the shopping cart."}, {"start_frame": 331, "end_frame": 447, "action_text": "pick up the white packaged item from the shopping cart", "skill": "Pick", "language_memory": "The robot moved to the target location, bent over, picked up the blue packaged item from the shopping cart, and handed it over."}, {"start_frame": 447, "end_frame": 494, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot moved to the target location, bent over, and picked up both the blue and white packaged items from the shopping cart before handing over the blue bagged product."}, {"start_frame": 494, "end_frame": 604, "action_text": "rotate the waist upward", "skill": "Rotate", "language_memory": "The robot moved to the target location, bent over, picked up and handed over a blue packaged item, picked up a white packaged item, and adjusted its posture."}, {"start_frame": 604, "end_frame": 854, "action_text": "place the white bagged product on the shelf", "skill": "Place", "language_memory": "The robot moved to the target location, picked up blue and white packaged items from the shopping cart, handed over the blue bagged product, and adjusted its posture by rotating the waist upward."}, {"start_frame": 854, "end_frame": 1049, "action_text": "place the blue packaged goods onto the shelf", "skill": "Place", "language_memory": "The robot moved to the target location, picked up blue and white packaged items from the shopping cart, and placed the white bagged product on the shelf."}, {"start_frame": 1049, "end_frame": 1158, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot moved to the target location, picked up blue and white packaged items from the shopping cart, and placed both bagged products onto the shelf."}, {"start_frame": 1158, "end_frame": 1499, "action_text": "pick up the red packaged item from the shopping cart", "skill": "Pick", "language_memory": "The robot moved to the target location, picked up blue and white packaged items from the shopping cart, and successfully placed both bagged products onto the shelf."}, {"start_frame": 1499, "end_frame": 1581, "action_text": "hand over the red bagged product", "skill": "Handover", "language_memory": "The robot moved to the target location, picked up blue, white, and red packaged items from the shopping cart, and placed the blue and white bagged products onto the shelf."}, {"start_frame": 1581, "end_frame": 1667, "action_text": "pick up the green packaged item from the shopping cart", "skill": "Pick", "language_memory": "The robot moved to the target location, picked up blue, white, and red packaged items from the shopping cart, and successfully placed all three bagged products onto the shelf."}, {"start_frame": 1667, "end_frame": 1721, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot has moved to the target location, picked up blue, white, red, and green packaged items from the shopping cart, and successfully placed the white, blue, and red bagged products onto the shelf."}, {"start_frame": 1721, "end_frame": 1788, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot moved to the target location, picked up blue, white, red, and green packaged items from the shopping cart, and successfully placed all of them onto the shelf."}, {"start_frame": 1788, "end_frame": 1930, "action_text": "place the green packaged goods onto the shelf", "skill": "Place", "language_memory": "The robot has moved to the target location, picked up blue, white, red, and green packaged items from the shopping cart, and successfully placed all of them onto the shelf."}, {"start_frame": 1930, "end_frame": 2102, "action_text": "place the red packaged product on the shelf", "skill": "Place", "language_memory": "The robot moved to the target location, picked up blue, white, red, and green packaged items from the shopping cart, and successfully placed all of them onto the shelf."}, {"start_frame": 2102, "end_frame": 2211, "action_text": "place the red packaged goods on the target", "skill": "Place", "language_memory": "The robot successfully retrieved blue, white, red, and green packaged items from the shopping cart and placed them onto the shelf."}, {"start_frame": 2211, "end_frame": 2256, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot moved to the target location, picked up blue, white, red, and green packaged items from the shopping cart, and successfully placed all of them onto the shelf and the target."}], "detailed_task_instruction": ["Move to the target location and bend over to pick up the blue packaged item from the shopping cart. Hand over the blue bagged product, then adjust your posture and rotate your waist upward to place it on the shelf. Next, bend over again to pick up the white packaged item, adjust your posture, and rotate your waist to place the white bagged product on the shelf. Proceed to pick up the red packaged item, hand it over, and after adjusting your posture and rotating your waist, place the red packaged goods on the shelf. Finally, pick up the green packaged item, adjust your posture, rotate your waist, and place the green packaged goods onto the shelf to complete the restocking of the bagged snacks."]}
{"task_id": "task_3641", "episode_index": 89, "video_path": "task_3641/videos/chunk-000/{video_key}/episode_000089.mp4", "tasks": ["Restocking the bagged snack."], "length": 2477, "action_config": [{"start_frame": 27, "end_frame": 102, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 102, "end_frame": 159, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot rotated its waist."}, {"start_frame": 159, "end_frame": 390, "action_text": "pick up the white bagged item from the shopping cart", "skill": "Pick", "language_memory": "The robot rotated its waist and bent over."}, {"start_frame": 390, "end_frame": 454, "action_text": "hand over the white bagged product", "skill": "Handover", "language_memory": "The robot rotated its waist, bent over, and picked up a white bagged item from the shopping cart."}, {"start_frame": 454, "end_frame": 564, "action_text": "pick up the white bagged item from the shopping cart", "skill": "Pick", "language_memory": "The robot rotated its waist, bent over, picked up a white bagged item from the shopping cart, and handed it over."}, {"start_frame": 564, "end_frame": 598, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot rotated its waist, bent over, and picked up multiple white bagged items from the shopping cart before handing one over."}, {"start_frame": 598, "end_frame": 727, "action_text": "rotate the waist while lifting the body upward", "skill": "Rotate", "language_memory": "The robot rotated its waist, bent over, picked up two white bagged items from the shopping cart, handed one over, and adjusted its posture."}, {"start_frame": 727, "end_frame": 954, "action_text": "place the white bagged goods onto the shelf", "skill": "Place", "language_memory": "The robot rotated its waist, bent over, picked up white bagged items from the shopping cart, handed one over, adjusted its posture, and lifted its body upward while rotating the waist."}, {"start_frame": 954, "end_frame": 999, "action_text": "hand over the white bagged product", "skill": "Handover", "language_memory": "The robot rotated its waist, bent over, picked up white bagged items from the shopping cart, handed one over, adjusted its posture, lifted its body while rotating, and placed the white bagged goods onto the shelf."}, {"start_frame": 999, "end_frame": 1222, "action_text": "place the white bagged product on the shelf", "skill": "Place", "language_memory": "The robot rotated its waist, bent over, picked up white bagged items from the shopping cart, handed them over, adjusted its posture, lifted its body upward, and placed the white bagged goods onto the shelf."}, {"start_frame": 1222, "end_frame": 1340, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot rotated its waist, bent over, and picked up multiple white bagged items from the shopping cart, handing them over and placing them onto the shelf."}, {"start_frame": 1340, "end_frame": 1455, "action_text": "pick up the white bagged item from the shopping cart", "skill": "Pick", "language_memory": "The robot has successfully retrieved multiple white bagged items from the shopping cart and placed them onto the shelf."}, {"start_frame": 1455, "end_frame": 1548, "action_text": "hand over the white bagged product", "skill": "Handover", "language_memory": "The robot has rotated its waist, adjusted its posture, and picked up multiple white bagged items from the shopping cart to place them onto the shelf."}, {"start_frame": 1548, "end_frame": 1733, "action_text": "pick up the orange packaged product from the shopping cart", "skill": "Pick", "language_memory": "The robot has successfully retrieved multiple white bagged items from the shopping cart and placed them onto the shelf."}, {"start_frame": 1733, "end_frame": 1778, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot rotated its waist, adjusted its posture, and picked up multiple white bagged items and one orange packaged product from the shopping cart, handing them over and placing the white bagged goods onto the shelf."}, {"start_frame": 1778, "end_frame": 2038, "action_text": "place the white packaged goods on the shelf", "skill": "Place", "language_memory": "The robot rotated its waist, adjusted its posture, bent over, and picked up multiple white bagged items and one orange packaged product from the shopping cart, handing them over and placing the white bagged goods onto the shelf."}, {"start_frame": 2038, "end_frame": 2170, "action_text": "place the white bagged goods on the target", "skill": "Place", "language_memory": "The robot rotated its waist, adjusted its posture, bent over, and picked up multiple white bagged items and one orange packaged product from the shopping cart, handing them over and placing the white packaged goods onto the shelf."}, {"start_frame": 2170, "end_frame": 2303, "action_text": "hand over the orange bagged product", "skill": "Handover", "language_memory": "The robot has rotated its waist, adjusted its posture, bent over, and picked up multiple white bagged items and one orange packaged product from the shopping cart, successfully handing them over and placing the white bagged goods onto the shelf and the target."}, {"start_frame": 2303, "end_frame": 2430, "action_text": "place the orange packaged goods on the shelf", "skill": "Place", "language_memory": "The robot has restocked multiple white and orange bagged items from the shopping cart onto the shelf and target."}, {"start_frame": 2430, "end_frame": 2476, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot rotated its waist, adjusted its posture, bent over, and picked up multiple white and orange bagged items from the shopping cart to hand them over and place them onto the shelf."}], "detailed_task_instruction": ["Restock the bagged snacks by first rotating your waist and bending over to pick up a white bagged item from the shopping cart. Adjust your posture, lift your body upward while rotating your waist, and hand the white bagged product to the robot. Instruct the robot to place the white bagged goods onto the shelf. Next, bend over again to pick up a second white bagged item from the cart, adjust your posture, and hand it over for the robot to place on the shelf. Finally, bend over to pick up an orange packaged product from the shopping cart, adjust your posture, and hand the orange bagged product to the robot for placement on the shelf."]}
{"task_id": "task_3641", "episode_index": 90, "video_path": "task_3641/videos/chunk-000/{video_key}/episode_000090.mp4", "tasks": ["Restocking the bagged snack."], "length": 4405, "action_config": [{"start_frame": 0, "end_frame": 285, "action_text": "pick up the waist", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 285, "end_frame": 494, "action_text": "pick up the yellow packaged cookies from the shelf", "skill": "Pick", "language_memory": "The robot has picked up the waist."}, {"start_frame": 494, "end_frame": 598, "action_text": "bend at the waist while lowering the body", "skill": "AdjustPosture", "language_memory": "The robot has picked up the waist and yellow packaged cookies from the shelf."}, {"start_frame": 598, "end_frame": 731, "action_text": "bend at the waist while lowering the body", "skill": "AdjustPosture", "language_memory": "The robot has picked up the waist and yellow packaged cookies from the shelf and bent at the waist while lowering the body."}, {"start_frame": 731, "end_frame": 860, "action_text": "place the yellow bagged cookies into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up the waist and yellow packaged cookies from the shelf and bent at the waist while lowering the body."}, {"start_frame": 860, "end_frame": 1042, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot picked up the waist, retrieved yellow packaged cookies from the shelf, lowered its body, and placed the cookies into the shopping cart."}, {"start_frame": 1042, "end_frame": 1334, "action_text": "pick up the yellow packaged cookies from the shelf", "skill": "Pick", "language_memory": "The robot picked up the yellow packaged cookies from the shelf and placed them into the shopping cart."}, {"start_frame": 1334, "end_frame": 1468, "action_text": "bend at the waist while lowering the body", "skill": "AdjustPosture", "language_memory": "The robot picked up yellow packaged cookies from the shelf, bent at the waist, and placed the cookies into the shopping cart."}, {"start_frame": 1468, "end_frame": 1569, "action_text": "bend at the waist while lowering the body", "skill": "AdjustPosture", "language_memory": "The robot has picked up yellow packaged cookies from the shelf, lowered its body, and placed the cookies into the shopping cart."}, {"start_frame": 1569, "end_frame": 1740, "action_text": "place the yellow bagged cookies into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up yellow packaged cookies from the shelf and placed them into the shopping cart."}, {"start_frame": 1740, "end_frame": 1971, "action_text": "pick up the waist", "skill": "Pick", "language_memory": "The robot has picked up yellow packaged cookies from the shelf and placed them into the shopping cart."}, {"start_frame": 1971, "end_frame": 2203, "action_text": "pick up the white bagged snack on the right side of the shelf", "skill": "Pick", "language_memory": "The robot has picked up yellow packaged cookies from the shelf and placed them into the shopping cart."}, {"start_frame": 2203, "end_frame": 2273, "action_text": "bend at the waist while lowering the body", "skill": "AdjustPosture", "language_memory": "The robot picked up the waist, retrieved yellow packaged cookies from the shelf, lowered its body, and placed the yellow bagged cookies into the shopping cart, then picked up a white bagged snack from the right side of the shelf."}, {"start_frame": 2273, "end_frame": 2441, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot has picked up and placed yellow bagged cookies into the shopping cart and is currently holding a white bagged snack after bending down."}, {"start_frame": 2441, "end_frame": 2654, "action_text": "place the white bagged snacks into the shopping cart", "skill": "Place", "language_memory": "The robot successfully picked up and placed yellow bagged cookies and a white bagged snack into the shopping cart."}, {"start_frame": 2654, "end_frame": 2875, "action_text": "pick up the waist", "skill": "Pick", "language_memory": "The robot has picked up and placed yellow and white bagged snacks into the shopping cart."}, {"start_frame": 2875, "end_frame": 3080, "action_text": "pick up the white bagged snack on the right side of the shelf", "skill": "Pick", "language_memory": "The robot successfully picked up yellow and white bagged snacks from the shelf and placed them into the shopping cart."}, {"start_frame": 3080, "end_frame": 3175, "action_text": "bend at the waist while lowering the body", "skill": "AdjustPosture", "language_memory": "The robot has successfully restocked the shopping cart with yellow and white bagged snacks from the shelf."}, {"start_frame": 3175, "end_frame": 3250, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has successfully picked up and placed multiple yellow and white bagged snacks from the shelf into the shopping cart."}, {"start_frame": 3250, "end_frame": 3290, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot successfully picked up and placed multiple yellow and white bagged snacks from the shelf into the shopping cart."}, {"start_frame": 3290, "end_frame": 3530, "action_text": "place the white bagged snacks into the shopping cart", "skill": "Place", "language_memory": "The robot has successfully restocked the shopping cart with multiple yellow and white bagged snacks from the shelf."}], "detailed_task_instruction": ["Restock the bagged snacks by first bending at the waist to pick up yellow packaged cookies from the shelf and placing them into the shopping cart. Repeat this process for a second batch of yellow cookies. Next, bend down to retrieve white bagged snacks from the right side of the shelf and place them into the cart. Finally, repeat the retrieval and placement process for a second batch of white bagged snacks, ensuring all items are successfully transferred to the shopping cart."]}
{"task_id": "task_3641", "episode_index": 91, "video_path": "task_3641/videos/chunk-000/{video_key}/episode_000091.mp4", "tasks": ["Restocking the bagged snack."], "length": 4741, "action_config": [{"start_frame": 0, "end_frame": 496, "action_text": "increase height", "skill": "AdjustPosture", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 496, "end_frame": 695, "action_text": "pick up the yellow packaged cookies from the shelf", "skill": "Pick", "language_memory": "The robot has increased its height."}, {"start_frame": 695, "end_frame": 844, "action_text": "bend at the waist while lowering the body", "skill": "AdjustPosture", "language_memory": "The robot increased its height and picked up the yellow packaged cookies from the shelf."}, {"start_frame": 844, "end_frame": 940, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot increased its height, picked up the yellow packaged cookies from the shelf, and bent at the waist while lowering its body."}, {"start_frame": 940, "end_frame": 1087, "action_text": "place the yellow bagged cookies into the shopping cart", "skill": "Place", "language_memory": "The robot increased its height, picked up the yellow packaged cookies from the shelf, and bent at the waist while lowering its body."}, {"start_frame": 1087, "end_frame": 1166, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot increased its height, picked up yellow packaged cookies from the shelf, adjusted its posture by bending at the waist and over, and placed the yellow bagged cookies into the shopping cart."}, {"start_frame": 1166, "end_frame": 1295, "action_text": "pick up the waist", "skill": "Pick", "language_memory": "The robot increased its height, picked up yellow packaged cookies from the shelf, adjusted its posture by bending at the waist and over, placed the cookies into the shopping cart, and rotated its waist."}, {"start_frame": 1295, "end_frame": 1486, "action_text": "pick up the yellow packaged cookies from the shelf", "skill": "Pick", "language_memory": "The robot increased its height, picked up yellow packaged cookies from the shelf, adjusted its posture by bending at the waist and rotating, and successfully placed the yellow bagged cookies into the shopping cart."}, {"start_frame": 1486, "end_frame": 1619, "action_text": "bend the waist downward while lowering the body", "skill": "AdjustPosture", "language_memory": "The robot increased its height, bent at the waist, rotated its waist, and picked up yellow packaged cookies from the shelf before placing them into the shopping cart."}, {"start_frame": 1619, "end_frame": 1727, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot has picked up yellow packaged cookies from the shelf and placed them into the shopping cart."}, {"start_frame": 1727, "end_frame": 1886, "action_text": "place the yellow bagged cookies into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up yellow packaged cookies from the shelf and placed them into the shopping cart."}, {"start_frame": 1886, "end_frame": 2131, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot successfully increased its height, bent over to pick up yellow packaged cookies from the shelf, and placed them into the shopping cart."}, {"start_frame": 2131, "end_frame": 2347, "action_text": "pick up the white bagged snack on the right side of the shelf", "skill": "Pick", "language_memory": "The robot has increased its height, picked up yellow packaged cookies from the shelf, bent over to place them into the shopping cart, and adjusted its posture."}, {"start_frame": 2347, "end_frame": 2458, "action_text": "bend the waist downward while lowering the body", "skill": "AdjustPosture", "language_memory": "The robot has increased its height, bent over to pick up yellow packaged cookies and a white bagged snack from the shelf, and placed the yellow bagged cookies into the shopping cart."}, {"start_frame": 2458, "end_frame": 2710, "action_text": "place the white bagged snacks into the shopping cart", "skill": "Place", "language_memory": "The robot has increased its height, bent over multiple times to pick up yellow packaged cookies and a white bagged snack from the shelf, and placed the yellow bagged cookies into the shopping cart."}, {"start_frame": 2710, "end_frame": 2968, "action_text": "pick up the waist", "skill": "Pick", "language_memory": "The robot has increased its height, bent over to pick up yellow and white bagged snacks from the shelf, and placed them into the shopping cart."}, {"start_frame": 2968, "end_frame": 3236, "action_text": "pick up the white bagged snack on the right side of the shelf", "skill": "Pick", "language_memory": "The robot has increased its height, bent over to pick up yellow and white bagged snacks from the shelf, and placed them into the shopping cart."}, {"start_frame": 3236, "end_frame": 3348, "action_text": "bend the waist downward while lowering the body", "skill": "AdjustPosture", "language_memory": "The robot has successfully restocked the shopping cart by picking up and placing multiple yellow and white bagged snacks from the shelf."}, {"start_frame": 3348, "end_frame": 3617, "action_text": "place the white bag of snacks into the shopping cart", "skill": "Place", "language_memory": "The robot has successfully retrieved multiple yellow and white bagged snacks from the shelf and placed them into the shopping cart."}, {"start_frame": 3617, "end_frame": 3885, "action_text": "pick up the waist", "skill": "Pick", "language_memory": "The robot has successfully restocked the shopping cart by picking up and placing multiple yellow and white bagged snacks from the shelf."}, {"start_frame": 3885, "end_frame": 4176, "action_text": "pick up the white bagged snack from the right side of the shelf", "skill": "Pick", "language_memory": "The robot has successfully restocked the shopping cart by picking up and placing multiple yellow and white bagged snacks from the shelf."}, {"start_frame": 4176, "end_frame": 4263, "action_text": "bend the waist downward while lowering the body", "skill": "AdjustPosture", "language_memory": "The robot has successfully restocked the shopping cart by picking up and placing multiple yellow and white bagged snacks from the shelf."}, {"start_frame": 4263, "end_frame": 4545, "action_text": "place the white bagged snacks into the shopping cart", "skill": "Place", "language_memory": "The robot has successfully restocked the shopping cart by picking up and placing multiple yellow and white bagged snacks from the shelf."}], "detailed_task_instruction": ["Restock the bagged snacks by first increasing your height, then bending at the waist and rotating your torso to pick up yellow packaged cookies from the shelf and place them into the shopping cart. Repeat this bending and picking motion for additional yellow cookies. Next, adjust your posture, bend downward, and pick up white bagged snacks from the right side of the shelf, placing them into the shopping cart. Continue this sequence of bending, picking up the white snacks from the right side, and placing them in the cart until all items are restocked."]}
{"task_id": "task_3641", "episode_index": 92, "video_path": "task_3641/videos/chunk-000/{video_key}/episode_000092.mp4", "tasks": ["Restocking the bagged snack."], "length": 4971, "action_config": [{"start_frame": 0, "end_frame": 266, "action_text": "pick up the waist", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 266, "end_frame": 468, "action_text": "pick up the yellow packaged cookies from the shelf", "skill": "Pick", "language_memory": "The robot has picked up the waist."}, {"start_frame": 468, "end_frame": 618, "action_text": "height decreases while the waist bends downward", "skill": "AdjustPosture", "language_memory": "The robot has picked up the waist and yellow packaged cookies from the shelf."}, {"start_frame": 618, "end_frame": 732, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot has picked up the waist and yellow packaged cookies from the shelf, with the waist bending downward."}, {"start_frame": 732, "end_frame": 879, "action_text": "place the yellow packaged cookies into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up the waist and yellow packaged cookies from the shelf, decreased its height, and bent over."}, {"start_frame": 879, "end_frame": 970, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the yellow packaged cookies from the shelf and placed them into the shopping cart."}, {"start_frame": 970, "end_frame": 1087, "action_text": "pick up the waist", "skill": "Pick", "language_memory": "The robot picked up yellow packaged cookies from the shelf, bent over, and placed them into the shopping cart."}, {"start_frame": 1087, "end_frame": 1255, "action_text": "pick up the yellow packaged cookies from the shelf", "skill": "Pick", "language_memory": "The robot picked up yellow packaged cookies from the shelf and placed them into the shopping cart."}, {"start_frame": 1255, "end_frame": 1382, "action_text": "bend at the waist while lowering the body", "skill": "AdjustPosture", "language_memory": "The robot picked up yellow packaged cookies from the shelf and placed them into the shopping cart."}, {"start_frame": 1382, "end_frame": 1575, "action_text": "place the yellow packaged cookies into the shopping cart", "skill": "Place", "language_memory": "The robot picked up yellow packaged cookies from the shelf and placed them into the shopping cart."}, {"start_frame": 1575, "end_frame": 1815, "action_text": "pick up the waist", "skill": "Pick", "language_memory": "The robot successfully picked up yellow packaged cookies from the shelf and placed them into the shopping cart."}, {"start_frame": 1815, "end_frame": 1976, "action_text": "pick up the white bagged snack on the right side of the shelf", "skill": "Pick", "language_memory": "The robot has successfully picked up and placed multiple yellow packaged cookies from the shelf into the shopping cart."}, {"start_frame": 1976, "end_frame": 2099, "action_text": "bend the waist downward while lowering the body", "skill": "AdjustPosture", "language_memory": "The robot picked up yellow packaged cookies from the shelf and placed them into the shopping cart, then picked up a white bagged snack from the right side of the shelf."}, {"start_frame": 2099, "end_frame": 2346, "action_text": "place the white bagged snacks into the shopping cart", "skill": "Place", "language_memory": "The robot has successfully picked up and placed multiple yellow packaged cookies into the shopping cart and is currently in the process of picking up a white bagged snack."}, {"start_frame": 2346, "end_frame": 2545, "action_text": "pick up the waist", "skill": "Pick", "language_memory": "The robot picked up yellow packaged cookies and a white bagged snack from the shelf and placed them into the shopping cart."}, {"start_frame": 2545, "end_frame": 2594, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up yellow packaged cookies and white bagged snacks from the shelf and placed them into the shopping cart."}, {"start_frame": 2594, "end_frame": 2790, "action_text": "pick up the white bagged snack on the right side of the shelf", "skill": "Pick", "language_memory": "The robot has successfully picked up and placed multiple yellow packaged cookies and white bagged snacks into the shopping cart."}, {"start_frame": 2790, "end_frame": 2926, "action_text": "bend at the waist while lowering the body", "skill": "AdjustPosture", "language_memory": "The robot has successfully picked up and placed multiple yellow packaged cookies and white bagged snacks into the shopping cart."}, {"start_frame": 2926, "end_frame": 3207, "action_text": "place the white bag of snacks into the shopping cart", "skill": "Place", "language_memory": "The robot has successfully picked up and placed multiple yellow packaged cookies and white bagged snacks into the shopping cart."}, {"start_frame": 3207, "end_frame": 3435, "action_text": "pick up the waist", "skill": "Pick", "language_memory": "The robot has successfully picked up and placed multiple yellow packaged cookies and white bagged snacks from the shelf into the shopping cart."}, {"start_frame": 3435, "end_frame": 3673, "action_text": "pick up the white bagged snack on the right side of the shelf", "skill": "Pick", "language_memory": "The robot has successfully restocked the shopping cart by picking up and placing multiple yellow packaged cookies and white bagged snacks from the shelf."}, {"start_frame": 3673, "end_frame": 3794, "action_text": "bend at the waist while lowering the body", "skill": "AdjustPosture", "language_memory": "The robot has successfully restocked the shopping cart by picking up and placing multiple yellow packaged cookies and white bagged snacks from the shelf."}, {"start_frame": 3794, "end_frame": 3880, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has successfully restocked the shopping cart by picking up and placing multiple yellow packaged cookies and white bagged snacks from the shelf."}, {"start_frame": 3880, "end_frame": 4104, "action_text": "place the white bagged snacks into the shopping cart", "skill": "Place", "language_memory": "The robot has successfully restocked the shopping cart with multiple yellow packaged cookies and white bagged snacks by repeatedly bending, picking them up from the shelf, and placing them into the cart."}, {"start_frame": 4104, "end_frame": 4347, "action_text": "pick up the waist", "skill": "Pick", "language_memory": "The robot successfully picked up multiple yellow packaged cookies and white bagged snacks from the shelf and placed them into the shopping cart."}, {"start_frame": 4347, "end_frame": 4537, "action_text": "pick up the white bagged snack from the left side of the shelf", "skill": "Pick", "language_memory": "The robot has successfully restocked the shopping cart by repeatedly bending, rotating, and placing multiple yellow packaged cookies and white bagged snacks from the shelf into the cart."}, {"start_frame": 4537, "end_frame": 4604, "action_text": "bend the waist downward while lowering the body", "skill": "AdjustPosture", "language_memory": "The robot has successfully restocked the shopping cart with multiple yellow packaged cookies and several white bagged snacks by repeatedly bending, rotating, and placing them from the shelves."}, {"start_frame": 4604, "end_frame": 4802, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot has successfully restocked the shopping cart by repeatedly bending, rotating, and placing multiple yellow packaged cookies and white bagged snacks from the shelf into the cart."}, {"start_frame": 4802, "end_frame": 4970, "action_text": "place the white bag of snacks into the shopping cart", "skill": "Place", "language_memory": "The robot has successfully restocked the shopping cart by repeatedly bending, rotating, and placing multiple yellow packaged cookies and white bagged snacks from the shelf into the cart."}], "detailed_task_instruction": ["Restock the shopping cart by first picking up the waist, bending down, and placing yellow packaged cookies from the shelf into the cart. Repeat this process for the remaining yellow cookies. Next, pick up the waist, rotate it, and place white bagged snacks from the right side of the shelf into the cart, repeating this action for all available white bags on that side. Finally, pick up the waist, bend down, and place the white bagged snacks from the left side of the shelf into the cart."]}
{"task_id": "task_3641", "episode_index": 93, "video_path": "task_3641/videos/chunk-000/{video_key}/episode_000093.mp4", "tasks": ["Restocking the bagged snack."], "length": 5355, "action_config": [{"start_frame": 0, "end_frame": 357, "action_text": "pick up the waist", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 357, "end_frame": 601, "action_text": "pick up the yellow packaged cookies from the shelf", "skill": "Pick", "language_memory": "The robot has picked up the waist."}, {"start_frame": 601, "end_frame": 740, "action_text": "bend the waist downward while lowering the body", "skill": "AdjustPosture", "language_memory": "The robot has picked up the waist and yellow packaged cookies from the shelf."}, {"start_frame": 740, "end_frame": 844, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot has picked up the waist and yellow packaged cookies from the shelf, and bent the waist downward while lowering the body."}, {"start_frame": 844, "end_frame": 971, "action_text": "place the yellow packaged cookies into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up the waist and yellow packaged cookies from the shelf, and bent its waist downward while lowering its body."}, {"start_frame": 971, "end_frame": 1158, "action_text": "pick up the waist", "skill": "Pick", "language_memory": "The robot picked up the yellow packaged cookies from the shelf and placed them into the shopping cart."}, {"start_frame": 1158, "end_frame": 1353, "action_text": "pick up the yellow packaged cookies from the shelf", "skill": "Pick", "language_memory": "The robot picked up the yellow packaged cookies from the shelf and placed them into the shopping cart."}, {"start_frame": 1353, "end_frame": 1503, "action_text": "height decreases while the waist bends downward", "skill": "AdjustPosture", "language_memory": "The robot has picked up yellow packaged cookies from the shelf and placed them into the shopping cart."}, {"start_frame": 1503, "end_frame": 1589, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has successfully retrieved multiple yellow packaged cookies from the shelf and placed them into the shopping cart."}, {"start_frame": 1589, "end_frame": 1620, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot has successfully retrieved multiple yellow packaged cookies from the shelf and placed them into the shopping cart."}, {"start_frame": 1620, "end_frame": 1765, "action_text": "place the yellow bagged cookies into the shopping cart", "skill": "Place", "language_memory": "The robot has successfully retrieved multiple yellow packaged cookies from the shelf and placed them into the shopping cart."}, {"start_frame": 1765, "end_frame": 1833, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has successfully retrieved multiple yellow packaged cookies from the shelf and placed them into the shopping cart."}, {"start_frame": 1833, "end_frame": 1957, "action_text": "pick up the waist", "skill": "Pick", "language_memory": "The robot successfully picked up yellow packaged cookies from the shelf and placed them into the shopping cart."}, {"start_frame": 1957, "end_frame": 2147, "action_text": "pick up the white bagged snack on the right side of the shelf", "skill": "Pick", "language_memory": "The robot successfully retrieved multiple yellow packaged cookies from the shelf and placed them into the shopping cart."}, {"start_frame": 2147, "end_frame": 2301, "action_text": "bend the waist downward while lowering the body", "skill": "AdjustPosture", "language_memory": "The robot has successfully picked up and placed multiple yellow packaged cookies into the shopping cart and is currently holding a white bagged snack."}, {"start_frame": 2301, "end_frame": 2366, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has successfully retrieved multiple yellow and white bagged cookies from the shelf and placed them into the shopping cart."}, {"start_frame": 2366, "end_frame": 2534, "action_text": "place the white bagged snacks into the shopping cart", "skill": "Place", "language_memory": "The robot has successfully retrieved multiple yellow and white bagged snacks from the shelf and placed them into the shopping cart."}, {"start_frame": 2534, "end_frame": 2729, "action_text": "pick up the waist", "skill": "Pick", "language_memory": "The robot has successfully restocked the shopping cart by picking up and placing multiple yellow and white bagged snacks from the shelf."}, {"start_frame": 2729, "end_frame": 2946, "action_text": "pick up the white bagged snack on the right side of the shelf", "skill": "Pick", "language_memory": "The robot has successfully restocked the shopping cart by picking up and placing multiple yellow and white bagged snacks from the shelf."}, {"start_frame": 2946, "end_frame": 3115, "action_text": "bend at the waist while lowering the body", "skill": "AdjustPosture", "language_memory": "The robot has successfully restocked the shopping cart with yellow packaged cookies and white bagged snacks."}, {"start_frame": 3115, "end_frame": 3430, "action_text": "place the white bagged snacks into the shopping cart", "skill": "Place", "language_memory": "The robot has successfully restocked the shopping cart with yellow packaged cookies and white bagged snacks."}, {"start_frame": 3430, "end_frame": 3463, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot has successfully restocked the shopping cart by picking up and placing multiple yellow and white bagged snacks from the shelf."}, {"start_frame": 3463, "end_frame": 3724, "action_text": "pick up the waist", "skill": "Pick", "language_memory": "The robot has successfully restocked the shopping cart by picking up and placing multiple yellow and white bagged snacks from the shelf."}, {"start_frame": 3724, "end_frame": 3925, "action_text": "pick up the white bagged snack on the right side of the shelf", "skill": "Pick", "language_memory": "The robot has successfully restocked the shopping cart by picking up and placing multiple yellow and white bagged snacks from the shelf."}, {"start_frame": 3925, "end_frame": 4065, "action_text": "height decreases while the waist bends downward", "skill": "AdjustPosture", "language_memory": "The robot has successfully restocked the shopping cart with multiple yellow and white bagged snacks from the shelf."}, {"start_frame": 4065, "end_frame": 4350, "action_text": "place the white bagged snack into the shopping cart", "skill": "Place", "language_memory": "The robot has successfully restocked the shopping cart with multiple yellow and white bagged snacks from the shelf."}, {"start_frame": 4350, "end_frame": 4381, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot successfully restocked the shopping cart by repeatedly picking up yellow and white bagged snacks from the shelf and placing them into the cart."}, {"start_frame": 4381, "end_frame": 4601, "action_text": "pick up the waist", "skill": "Pick", "language_memory": "The robot successfully restocked the shopping cart by repeatedly picking up yellow and white bagged snacks from the shelf and placing them into the cart."}, {"start_frame": 4601, "end_frame": 4840, "action_text": "pick up the white bagged snack on the left side of the shelf", "skill": "Pick", "language_memory": "The robot has successfully restocked the shopping cart by repeatedly picking up yellow and white bagged snacks from the shelf and placing them into the cart."}, {"start_frame": 4840, "end_frame": 4942, "action_text": "bend the waist downward while lowering the body", "skill": "AdjustPosture", "language_memory": "The robot has successfully restocked the shopping cart with multiple yellow and white bagged snacks from the shelf."}, {"start_frame": 4942, "end_frame": 5054, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has successfully restocked the shopping cart with multiple yellow and white bagged snacks from the shelf."}, {"start_frame": 5054, "end_frame": 5217, "action_text": "place the white bag of snacks into the shopping cart", "skill": "Place", "language_memory": "The robot has successfully restocked the shopping cart by repeatedly picking up yellow and white bagged snacks from the shelf and placing them into the cart."}], "detailed_task_instruction": ["Restock the bagged snacks by first bending down to pick up yellow packaged cookies from the shelf and placing them into the shopping cart. Repeat this process for additional yellow cookies. Next, bend down to retrieve white bagged snacks from the right side of the shelf and place them into the cart, repeating this action for multiple white bags on that side. Finally, bend down to pick up a white bagged snack from the left side of the shelf and place it into the shopping cart, completing the restocking task."]}
{"task_id": "task_3641", "episode_index": 94, "video_path": "task_3641/videos/chunk-000/{video_key}/episode_000094.mp4", "tasks": ["Restocking the bagged snack."], "length": 4681, "action_config": [{"start_frame": 0, "end_frame": 317, "action_text": "pick up the waist", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 317, "end_frame": 495, "action_text": "pick up the yellow bagged cookies from the shelf", "skill": "Pick", "language_memory": "The robot has picked up the waist."}, {"start_frame": 495, "end_frame": 653, "action_text": "bend at the waist while lowering the body", "skill": "AdjustPosture", "language_memory": "The robot has picked up the waist and the yellow bagged cookies from the shelf."}, {"start_frame": 653, "end_frame": 844, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot has picked up the waist and yellow bagged cookies from the shelf and bent at the waist while lowering the body."}, {"start_frame": 844, "end_frame": 1003, "action_text": "place the yellow bagged cookies into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up the waist and yellow bagged cookies from the shelf, and bent at the waist while lowering its body."}, {"start_frame": 1003, "end_frame": 1189, "action_text": "pick up the waist", "skill": "Pick", "language_memory": "The robot picked up the yellow bagged cookies from the shelf and placed them into the shopping cart."}, {"start_frame": 1189, "end_frame": 1424, "action_text": "pick up the yellow packaged cookies from the shelf", "skill": "Pick", "language_memory": "The robot picked up the yellow bagged cookies from the shelf and placed them into the shopping cart."}, {"start_frame": 1424, "end_frame": 1569, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot has picked up yellow bagged cookies from the shelf and placed them into the shopping cart."}, {"start_frame": 1569, "end_frame": 1636, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up yellow bagged cookies from the shelf and placed them into the shopping cart."}, {"start_frame": 1636, "end_frame": 1814, "action_text": "place the yellow bagged cookies into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up and placed yellow bagged cookies into the shopping cart, adjusted its posture, and rotated its waist."}, {"start_frame": 1814, "end_frame": 2041, "action_text": "pick up the waist", "skill": "Pick", "language_memory": "The robot has picked up and placed multiple yellow bagged cookies into the shopping cart while adjusting its posture."}, {"start_frame": 2041, "end_frame": 2253, "action_text": "pick up the white bagged snack on the right side of the shelf", "skill": "Pick", "language_memory": "The robot has picked up and placed two yellow bagged cookies into the shopping cart."}, {"start_frame": 2253, "end_frame": 2376, "action_text": "bend at the waist while lowering the body", "skill": "AdjustPosture", "language_memory": "The robot has picked up and placed two yellow bagged cookies into the shopping cart and is currently holding a white bagged snack."}, {"start_frame": 2376, "end_frame": 2546, "action_text": "place the white bagged snacks into the shopping cart", "skill": "Place", "language_memory": "The robot has successfully retrieved and placed multiple yellow bagged cookies and one white bagged snack into the shopping cart."}, {"start_frame": 2546, "end_frame": 2761, "action_text": "pick up the waist", "skill": "Pick", "language_memory": "The robot has successfully picked up and placed yellow bagged cookies and white bagged snacks into the shopping cart."}, {"start_frame": 2761, "end_frame": 2933, "action_text": "pick up the white bagged snack on the right side of the shelf", "skill": "Pick", "language_memory": "The robot has successfully picked up and placed yellow and white bagged snacks from the shelf into the shopping cart."}, {"start_frame": 2933, "end_frame": 3027, "action_text": "bend at the waist while lowering the body", "skill": "AdjustPosture", "language_memory": "The robot has successfully picked up and placed multiple yellow and white bagged snacks from the shelf into the shopping cart."}, {"start_frame": 3027, "end_frame": 3274, "action_text": "place the white bagged snacks into the shopping cart", "skill": "Place", "language_memory": "The robot has successfully picked up and placed multiple yellow and white bagged snacks from the shelf into the shopping cart."}, {"start_frame": 3274, "end_frame": 3389, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has successfully restocked the shopping cart by picking up and placing multiple yellow and white bagged snacks from the shelf."}, {"start_frame": 3389, "end_frame": 3477, "action_text": "pick up the waist", "skill": "Pick", "language_memory": "The robot has successfully restocked the shopping cart by picking up and placing multiple yellow and white bagged snacks from the shelf."}, {"start_frame": 3477, "end_frame": 3678, "action_text": "pick up the white bagged snack on the right side of the shelf", "skill": "Pick", "language_memory": "The robot has successfully restocked the shopping cart by picking up and placing multiple yellow and white bagged snacks from the shelf."}, {"start_frame": 3678, "end_frame": 3776, "action_text": "height decreases while the waist bends downward", "skill": "AdjustPosture", "language_memory": "The robot has successfully restocked the shopping cart with multiple yellow and white bagged snacks from the shelf."}, {"start_frame": 3776, "end_frame": 4021, "action_text": "place the white bagged snacks into the shopping cart", "skill": "Place", "language_memory": "The robot has successfully restocked the shopping cart with multiple yellow and white bagged snacks from the shelf."}], "detailed_task_instruction": ["Restock the bagged snacks by first bending at the waist to pick up yellow bagged cookies from the shelf and placing them into the shopping cart. Repeat this process for a second batch of yellow bagged cookies. Next, bend down to pick up white bagged snacks located on the right side of the shelf and place them into the shopping cart. Finally, repeat the action of picking up and placing the white bagged snacks into the cart to complete the restocking task."]}
{"task_id": "task_3641", "episode_index": 95, "video_path": "task_3641/videos/chunk-000/{video_key}/episode_000095.mp4", "tasks": ["Restocking the bagged snack."], "length": 4242, "action_config": [{"start_frame": 0, "end_frame": 321, "action_text": "pick up the waist", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 321, "end_frame": 485, "action_text": "pick up the yellow packaged cookies from the shelf", "skill": "Pick", "language_memory": "The robot has picked up the waist."}, {"start_frame": 485, "end_frame": 613, "action_text": "bend at the waist while lowering the body", "skill": "AdjustPosture", "language_memory": "The robot has picked up the waist and yellow packaged cookies from the shelf."}, {"start_frame": 613, "end_frame": 837, "action_text": "place the yellow bagged cookies into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up the waist and yellow packaged cookies from the shelf and bent at the waist while lowering the body."}, {"start_frame": 837, "end_frame": 1025, "action_text": "pick up the waist", "skill": "Pick", "language_memory": "The robot picked up the waist, retrieved yellow packaged cookies from the shelf, bent down, and placed the cookies into the shopping cart."}, {"start_frame": 1025, "end_frame": 1195, "action_text": "pick up the yellow packaged cookies from the shelf", "skill": "Pick", "language_memory": "The robot picked up the waist, retrieved yellow packaged cookies from the shelf, lowered its body, and placed the cookies into the shopping cart before returning to the waist position."}, {"start_frame": 1195, "end_frame": 1304, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot has picked up yellow packaged cookies from the shelf and placed them into the shopping cart."}, {"start_frame": 1304, "end_frame": 1375, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up yellow packaged cookies from the shelf and placed them into the shopping cart."}, {"start_frame": 1375, "end_frame": 1522, "action_text": "place the yellow packaged cookies into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up yellow packaged cookies from the shelf and placed them into the shopping cart."}, {"start_frame": 1522, "end_frame": 1717, "action_text": "pick up the waist", "skill": "Pick", "language_memory": "The robot has picked up multiple yellow packaged cookies from the shelf and placed them into the shopping cart."}, {"start_frame": 1717, "end_frame": 1945, "action_text": "pick up the white bagged snack on the right side of the shelf", "skill": "Pick", "language_memory": "The robot has picked up multiple yellow packaged cookies from the shelf and placed them into the shopping cart."}, {"start_frame": 1945, "end_frame": 2083, "action_text": "bend the waist downward while lowering the body", "skill": "AdjustPosture", "language_memory": "The robot has picked up and placed multiple yellow packaged cookies into the shopping cart and is currently holding a white bagged snack."}, {"start_frame": 2083, "end_frame": 2304, "action_text": "place the white bagged snacks into the shopping cart", "skill": "Place", "language_memory": "The robot has successfully retrieved multiple yellow packaged cookies and one white bagged snack from the shelf and placed them into the shopping cart."}, {"start_frame": 2304, "end_frame": 2396, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has successfully restocked the shopping cart by picking up and placing multiple yellow and white bagged snacks from the shelf."}, {"start_frame": 2396, "end_frame": 2503, "action_text": "pick up the waist", "skill": "Pick", "language_memory": "The robot has successfully restocked the shopping cart by picking up and placing multiple yellow and white bagged snacks from the shelf."}, {"start_frame": 2503, "end_frame": 2936, "action_text": "pick up the white bagged snack on the right side of the shelf", "skill": "Pick", "language_memory": "The robot has successfully restocked the shopping cart by picking up and placing multiple yellow and white bagged snacks from the shelf."}, {"start_frame": 2936, "end_frame": 3046, "action_text": "bend at the waist while lowering the body", "skill": "AdjustPosture", "language_memory": "The robot has successfully restocked the shopping cart by picking up and placing multiple yellow and white bagged snacks from the shelf."}, {"start_frame": 3046, "end_frame": 3330, "action_text": "place the white bagged snacks into the shopping cart", "skill": "Place", "language_memory": "The robot has successfully restocked the shopping cart by picking up and placing multiple yellow and white bagged snacks from the shelf."}, {"start_frame": 3330, "end_frame": 3538, "action_text": "pick up the waist", "skill": "Pick", "language_memory": "The robot has successfully restocked the shopping cart by picking up and placing multiple yellow and white bagged snacks from the shelf."}, {"start_frame": 3538, "end_frame": 3805, "action_text": "pick up the white bagged snack on the right side of the shelf", "skill": "Pick", "language_memory": "The robot has successfully restocked the shopping cart by picking up and placing multiple yellow and white bagged snacks from the shelf."}, {"start_frame": 3805, "end_frame": 3902, "action_text": "height decreases while the waist bends downward", "skill": "AdjustPosture", "language_memory": "The robot has successfully restocked the shopping cart with multiple yellow and white bagged snacks from the shelf."}, {"start_frame": 3902, "end_frame": 4241, "action_text": "place the white bagged snacks into the shopping cart", "skill": "Place", "language_memory": "The robot has successfully restocked the shopping cart with multiple yellow and white bagged snacks by repeatedly bending, picking them from the shelf, and placing them into the cart."}], "detailed_task_instruction": ["Restock the bagged snacks by first bending at the waist to pick up yellow packaged cookies from the shelf and placing them into the shopping cart. Repeat this process for additional yellow cookies. Next, bend downward to pick up white bagged snacks located on the right side of the shelf and place them into the shopping cart. Continue this sequence of bending, picking up the white snacks, and placing them in the cart until the restocking is complete."]}
{"task_id": "task_3705", "episode_index": 0, "video_path": "task_3705/videos/chunk-000/{video_key}/episode_000000.mp4", "tasks": ["Restocking the product from the freezer to the cart."], "length": 1999, "action_config": [{"start_frame": 39, "end_frame": 334, "action_text": "open the freezer door", "skill": "Open", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 334, "end_frame": 404, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The freezer door has been opened."}, {"start_frame": 404, "end_frame": 606, "action_text": "pick up the yellow packaged product from the freezer", "skill": "Pick", "language_memory": "The robot has opened the freezer door and adjusted its posture."}, {"start_frame": 606, "end_frame": 703, "action_text": "hand over the yellow bagged product", "skill": "Handover", "language_memory": "The robot opened the freezer door, adjusted its posture, and picked up the yellow packaged product from the freezer."}, {"start_frame": 703, "end_frame": 880, "action_text": "pick up the pink packaged product from the freezer", "skill": "Pick", "language_memory": "The robot opened the freezer door, adjusted its posture, picked up a yellow packaged product from the freezer, and handed it over."}, {"start_frame": 880, "end_frame": 951, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot opened the freezer door, adjusted its posture, and retrieved both the yellow and pink packaged products from the freezer."}, {"start_frame": 951, "end_frame": 1143, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot opened the freezer door, adjusted its posture, and successfully retrieved and handed over both the yellow and pink packaged products from the freezer."}, {"start_frame": 1143, "end_frame": 1270, "action_text": "place the pink bagged item into the shopping cart", "skill": "Place", "language_memory": "The robot opened the freezer door, adjusted its posture, and successfully picked up and handed over both the yellow and pink packaged products from the freezer."}, {"start_frame": 1270, "end_frame": 1401, "action_text": "place the yellow bagged item into the shopping cart", "skill": "Place", "language_memory": "The robot opened the freezer door, adjusted its posture, picked up and handed over a yellow packaged product, then picked up and placed a pink packaged product into the shopping cart."}, {"start_frame": 1401, "end_frame": 1453, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot opened the freezer door, adjusted its posture, picked up yellow and pink packaged products from the freezer, and placed both items into the shopping cart."}, {"start_frame": 1453, "end_frame": 1615, "action_text": "increase height", "skill": "AdjustPosture", "language_memory": "The robot opened the freezer door, adjusted its posture, picked up yellow and pink packaged products from the freezer, and placed both items into the shopping cart."}, {"start_frame": 1615, "end_frame": 1954, "action_text": "close the freezer door", "skill": "Close", "language_memory": "The robot opened the freezer, retrieved yellow and pink packaged products, and successfully placed both items into the shopping cart while adjusting its posture and increasing height."}], "detailed_task_instruction": ["Restock the freezer by first opening the freezer door and adjusting the robot posture. Retrieve the yellow packaged product from the freezer, hand it over, and then adjust the robot posture twice. Next, pick up the pink packaged product from the freezer, adjust the robot posture again, and place both the pink and yellow bagged items into the shopping cart. Finally, adjust the robot posture, increase the height, and close the freezer door to complete the restocking process."]}
{"task_id": "task_3705", "episode_index": 1, "video_path": "task_3705/videos/chunk-000/{video_key}/episode_000001.mp4", "tasks": ["Restocking the product from the freezer to the cart."], "length": 2225, "action_config": [{"start_frame": 25, "end_frame": 380, "action_text": "open the freezer door", "skill": "Open", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 380, "end_frame": 549, "action_text": "as the height increases, the waist bends downward", "skill": "AdjustPosture", "language_memory": "The freezer door has been opened."}, {"start_frame": 549, "end_frame": 906, "action_text": "place the yellow bagged goods on the target", "skill": "Place", "language_memory": "The robot opened the freezer door and adjusted its waist posture downward as the height increased."}, {"start_frame": 906, "end_frame": 1441, "action_text": "place the white bagged goods on the target", "skill": "Place", "language_memory": "The robot opened the freezer door, adjusted its waist height, and placed the yellow bagged goods on the target."}, {"start_frame": 1441, "end_frame": 1916, "action_text": "place the yellow packaged goods on the target", "skill": "Place", "language_memory": "The robot opened the freezer door, adjusted its waist height, and placed yellow and white bagged goods onto the target."}, {"start_frame": 1916, "end_frame": 2224, "action_text": "close the freezer door", "skill": "Close", "language_memory": "The robot opened the freezer door, adjusted its waist height, and placed yellow bagged goods, white bagged goods, and yellow packaged goods onto the target."}], "detailed_task_instruction": ["Open the freezer door and, as the height increases, bend your waist downward to access the items. Retrieve and place the yellow bagged goods, followed by the white bagged goods, and then the yellow packaged goods onto the target cart in that specific order. Finally, close the freezer door to complete the restocking process."]}
{"task_id": "task_3705", "episode_index": 2, "video_path": "task_3705/videos/chunk-000/{video_key}/episode_000002.mp4", "tasks": ["Restocking the product from the freezer to the cart."], "length": 2562, "action_config": [{"start_frame": 49, "end_frame": 439, "action_text": "open the freezer door", "skill": "Open", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 439, "end_frame": 568, "action_text": "bend at the waist while lowering the body", "skill": "AdjustPosture", "language_memory": "The freezer door has been opened."}, {"start_frame": 568, "end_frame": 1047, "action_text": "pick up the white packaged product from the freezer", "skill": "Pick", "language_memory": "The robot has opened the freezer door and bent at the waist."}, {"start_frame": 1047, "end_frame": 1387, "action_text": "pick up the white packaged product from the freezer", "skill": "Pick", "language_memory": "The robot opened the freezer door, bent at the waist, and picked up a white packaged product from the freezer."}, {"start_frame": 1387, "end_frame": 1482, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot opened the freezer door, bent at the waist, and picked up white packaged products from the freezer."}, {"start_frame": 1482, "end_frame": 1688, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot opened the freezer door, bent down, and picked up white packaged products from the freezer before adjusting its posture."}, {"start_frame": 1688, "end_frame": 1800, "action_text": "place the white bagged item into the shopping cart", "skill": "Place", "language_memory": "The robot opened the freezer door, bent down, and picked up white packaged products from the freezer."}, {"start_frame": 1800, "end_frame": 1913, "action_text": "place the white bagged goods into the shopping cart", "skill": "Place", "language_memory": "The robot opened the freezer door, bent down, picked up white packaged products from the freezer, adjusted its posture, and placed the items into the shopping cart."}, {"start_frame": 1913, "end_frame": 2025, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot opened the freezer door, bent down, picked up white packaged products from the freezer, adjusted its posture, and placed the items into the shopping cart."}, {"start_frame": 2025, "end_frame": 2159, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot opened the freezer door, bent down, picked up white packaged products from the freezer, and placed them into the shopping cart."}, {"start_frame": 2159, "end_frame": 2561, "action_text": "close the freezer door", "skill": "Close", "language_memory": "The robot opened the freezer door, bent down to pick up white packaged products from the freezer, and placed them into the shopping cart."}], "detailed_task_instruction": ["Open the freezer door and bend at the waist to lower your body. Pick up two white packaged products from inside the freezer. Adjust your robot posture as needed to maneuver. Place both white bagged items into the shopping cart. Finally, bend over to close the freezer door."]}
{"task_id": "task_3705", "episode_index": 3, "video_path": "task_3705/videos/chunk-000/{video_key}/episode_000003.mp4", "tasks": ["Restocking the product from the freezer to the cart."], "length": 2083, "action_config": [{"start_frame": 43, "end_frame": 331, "action_text": "open the freezer door", "skill": "Open", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 331, "end_frame": 422, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The freezer door has been opened."}, {"start_frame": 422, "end_frame": 689, "action_text": "pick up the orange packaged goods", "skill": "Pick", "language_memory": "The robot has opened the freezer door and adjusted its posture."}, {"start_frame": 689, "end_frame": 835, "action_text": "hand over the orange bagged product", "skill": "Handover", "language_memory": "The robot opened the freezer door, adjusted its posture, and picked up the orange packaged goods."}, {"start_frame": 835, "end_frame": 1050, "action_text": "pick up the pink packaged product from the freezer", "skill": "Pick", "language_memory": "The robot opened the freezer door, adjusted its posture, picked up the orange packaged goods, and handed over the orange bagged product."}, {"start_frame": 1050, "end_frame": 1126, "action_text": "raise the waist while lowering the body", "skill": "AdjustPosture", "language_memory": "The robot opened the freezer door, adjusted its posture, picked up and handed over an orange packaged product, and picked up a pink packaged product from the freezer."}, {"start_frame": 1126, "end_frame": 1271, "action_text": "pick up the object", "skill": "Pick", "language_memory": "The robot opened the freezer door, adjusted its posture, picked up and handed over an orange packaged product, picked up a pink packaged product from the freezer, and raised its waist while lowering its body."}, {"start_frame": 1271, "end_frame": 1384, "action_text": "place the pink packaged item into the shopping cart", "skill": "Place", "language_memory": "The robot opened the freezer door, adjusted its posture, and successfully retrieved and handed over orange and pink packaged goods from the freezer."}, {"start_frame": 1384, "end_frame": 1499, "action_text": "place the orange packaged goods into the shopping cart", "skill": "Place", "language_memory": "The robot opened the freezer door, adjusted its posture, picked up orange and pink packaged goods from the freezer, and placed the pink item into the shopping cart."}, {"start_frame": 1499, "end_frame": 1537, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot opened the freezer door, adjusted its posture, and successfully placed both the orange and pink packaged goods into the shopping cart."}, {"start_frame": 1537, "end_frame": 1716, "action_text": "increase height", "skill": "AdjustPosture", "language_memory": "The robot opened the freezer door, adjusted its posture, picked up orange and pink packaged goods from the freezer, and placed both items into the shopping cart."}, {"start_frame": 1716, "end_frame": 2054, "action_text": "close the freezer door", "skill": "Close", "language_memory": "The robot opened the freezer, adjusted its posture, picked up orange and pink packaged goods from the freezer, and placed both items into the shopping cart."}], "detailed_task_instruction": ["Open the freezer door and adjust the robot posture. Raise the waist while lowering the body to pick up the orange packaged goods, then hand them over. Next, adjust the posture again and increase height to pick up the pink packaged product from the freezer. Raise the waist while lowering the body once more to pick up the object, then place the pink packaged item into the shopping cart. Finally, place the orange packaged goods into the shopping cart, close the freezer door, and adjust the robot posture."]}
{"task_id": "task_3705", "episode_index": 4, "video_path": "task_3705/videos/chunk-000/{video_key}/episode_000004.mp4", "tasks": ["Restocking the product from the freezer to the cart."], "length": 1969, "action_config": [{"start_frame": 0, "end_frame": 357, "action_text": "open the freezer door", "skill": "Open", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 357, "end_frame": 465, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The freezer door has been opened."}, {"start_frame": 465, "end_frame": 635, "action_text": "pick up the pink packaged product from the freezer", "skill": "Pick", "language_memory": "The robot has opened the freezer door and bent over."}, {"start_frame": 635, "end_frame": 747, "action_text": "hand over the pink bagged product", "skill": "Handover", "language_memory": "The robot opened the freezer door, bent over, and picked up the pink packaged product from the freezer."}, {"start_frame": 747, "end_frame": 944, "action_text": "pick up the pink packaged product from the freezer", "skill": "Pick", "language_memory": "The robot opened the freezer door, bent over, picked up a pink packaged product from the freezer, and handed it over."}, {"start_frame": 944, "end_frame": 1012, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot opened the freezer door, bent over, and successfully retrieved two pink packaged products from the freezer before handing one over."}, {"start_frame": 1012, "end_frame": 1156, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot opened the freezer door, bent over, picked up two pink packaged products from the freezer, handed over one pink bagged product, and adjusted its posture."}, {"start_frame": 1156, "end_frame": 1267, "action_text": "place the pink bagged item into the shopping cart", "skill": "Place", "language_memory": "The robot opened the freezer door, bent over, and successfully picked up and handed over two pink packaged products from the freezer."}, {"start_frame": 1267, "end_frame": 1388, "action_text": "place the pink packaged item into the shopping cart", "skill": "Place", "language_memory": "The robot opened the freezer door, picked up two pink packaged products from the freezer, and placed them into the shopping cart."}, {"start_frame": 1388, "end_frame": 1454, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot opened the freezer, retrieved two pink packaged products, and placed both items into the shopping cart."}, {"start_frame": 1454, "end_frame": 1647, "action_text": "increase height", "skill": "AdjustPosture", "language_memory": "The robot opened the freezer, retrieved two pink packaged products, and placed both items into the shopping cart."}, {"start_frame": 1647, "end_frame": 1968, "action_text": "close the freezer door", "skill": "Close", "language_memory": "The robot opened the freezer, retrieved two pink packaged products, and placed both items into the shopping cart."}], "detailed_task_instruction": ["Open the freezer door and bend over to retrieve the first pink packaged product from inside. Hand over this item, then adjust your posture and bend over again to pick up the second pink packaged product. Adjust your posture once more, increase your height, and place both the pink bagged item and the pink packaged item into the shopping cart. Finally, close the freezer door to complete the restocking process."]}
{"task_id": "task_3705", "episode_index": 5, "video_path": "task_3705/videos/chunk-000/{video_key}/episode_000005.mp4", "tasks": ["Restocking the product from the freezer to the cart."], "length": 2414, "action_config": [{"start_frame": 60, "end_frame": 415, "action_text": "open the freezer door", "skill": "Open", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 415, "end_frame": 525, "action_text": "as the height increases, the waist bends downward", "skill": "AdjustPosture", "language_memory": "The freezer door has been opened."}, {"start_frame": 525, "end_frame": 804, "action_text": "pick up the white packaged product from the freezer", "skill": "Pick", "language_memory": "The robot opened the freezer door and adjusted its waist posture downward as the height increased."}, {"start_frame": 804, "end_frame": 1229, "action_text": "pick up the white packaged product from the freezer", "skill": "Pick", "language_memory": "The robot opened the freezer door, adjusted its waist posture as the height increased, and picked up the white packaged product from the freezer."}, {"start_frame": 1229, "end_frame": 1302, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot opened the freezer door, adjusted its waist posture, and retrieved white packaged products from the freezer."}, {"start_frame": 1302, "end_frame": 1434, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot opened the freezer door, adjusted its posture, and picked up white packaged products from the freezer."}, {"start_frame": 1434, "end_frame": 1521, "action_text": "as the height decreases, the waist bends downward", "skill": "AdjustPosture", "language_memory": "The robot opened the freezer door, adjusted its posture by bending the waist and rotating, and successfully picked up white packaged products from the freezer."}, {"start_frame": 1521, "end_frame": 1708, "action_text": "place the white bagged item into the shopping cart", "skill": "Place", "language_memory": "The robot opened the freezer door, adjusted its posture and waist rotation, and successfully picked up white packaged products from the freezer."}, {"start_frame": 1708, "end_frame": 1824, "action_text": "place the white bagged items into the shopping cart", "skill": "Place", "language_memory": "The robot opened the freezer door, adjusted its posture to reach increasing heights, picked up white packaged products from the freezer, and placed them into the shopping cart."}, {"start_frame": 1824, "end_frame": 1964, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot opened the freezer door, adjusted its posture to varying heights, and successfully placed white packaged products into the shopping cart."}, {"start_frame": 1964, "end_frame": 2081, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot opened the freezer door, picked up white packaged products, and placed them into the shopping cart."}, {"start_frame": 2081, "end_frame": 2413, "action_text": "close the freezer door", "skill": "Close", "language_memory": "The robot opened the freezer door, picked up white packaged products, and placed them into the shopping cart while adjusting its posture and bending as needed."}], "detailed_task_instruction": ["Open the freezer door and bend the waist downward to access the contents. Pick up the first white packaged product, adjust the robot posture, and rotate the waist. Pick up the second white packaged product, adjust the posture again, and bend over. Place both white bagged items into the shopping cart. Finally, close the freezer door."]}
{"task_id": "task_3705", "episode_index": 6, "video_path": "task_3705/videos/chunk-000/{video_key}/episode_000006.mp4", "tasks": ["Restocking the product from the freezer to the cart."], "length": 1874, "action_config": [{"start_frame": 20, "end_frame": 330, "action_text": "open the freezer door", "skill": "Open", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 330, "end_frame": 400, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The freezer door has been opened."}, {"start_frame": 400, "end_frame": 601, "action_text": "pick up the yellow packaged product from the freezer", "skill": "Pick", "language_memory": "The robot has opened the freezer door and adjusted its posture."}, {"start_frame": 601, "end_frame": 732, "action_text": "hand over the yellow bagged product", "skill": "Handover", "language_memory": "The robot opened the freezer door, adjusted its posture, and picked up the yellow packaged product from the freezer."}, {"start_frame": 732, "end_frame": 941, "action_text": "pick up the white packaged product from the freezer", "skill": "Pick", "language_memory": "The robot opened the freezer door, adjusted its posture, picked up a yellow packaged product from the freezer, and handed it over."}, {"start_frame": 941, "end_frame": 1007, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot opened the freezer door, adjusted its posture, and retrieved both the yellow and white packaged products from the freezer."}, {"start_frame": 1007, "end_frame": 1153, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot opened the freezer door, adjusted its posture, and successfully retrieved and handed over both the yellow and white packaged products from the freezer."}, {"start_frame": 1153, "end_frame": 1253, "action_text": "place the white bagged item into the shopping cart", "skill": "Place", "language_memory": "The robot opened the freezer door, adjusted its posture, picked up and handed over a yellow packaged product, picked up a white packaged product, and bent over."}, {"start_frame": 1253, "end_frame": 1377, "action_text": "place the yellow bagged item into the shopping cart", "skill": "Place", "language_memory": "The robot opened the freezer door, adjusted its posture, picked up and handed over a yellow packaged product, then picked up and placed a white packaged product into the shopping cart."}, {"start_frame": 1377, "end_frame": 1426, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot opened the freezer, adjusted its posture, picked up yellow and white packaged products from the freezer, and placed both items into the shopping cart."}, {"start_frame": 1426, "end_frame": 1501, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot opened the freezer, retrieved yellow and white packaged products, and placed both items into the shopping cart."}, {"start_frame": 1501, "end_frame": 1579, "action_text": "as the height increases, the waist bends downward", "skill": "AdjustPosture", "language_memory": "The robot opened the freezer, retrieved yellow and white packaged products, and placed both items into the shopping cart."}, {"start_frame": 1579, "end_frame": 1873, "action_text": "close the freezer door", "skill": "Close", "language_memory": "The robot opened the freezer, retrieved yellow and white packaged products, and successfully placed both items into the shopping cart."}], "detailed_task_instruction": ["Open the freezer door and adjust the robot posture. Pick up the yellow packaged product from the freezer, hand it over, and then pick up the white packaged product. Adjust the robot posture, bend over, and place the white bagged item into the shopping cart. Place the yellow bagged item into the shopping cart. Adjust the robot posture, rotate the waist, and bend downward as height increases. Finally, close the freezer door."]}
{"task_id": "task_3705", "episode_index": 7, "video_path": "task_3705/videos/chunk-000/{video_key}/episode_000007.mp4", "tasks": ["Restocking the product from the freezer to the cart."], "length": 2706, "action_config": [{"start_frame": 40, "end_frame": 387, "action_text": "open the freezer door", "skill": "Open", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 387, "end_frame": 549, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The freezer door has been opened."}, {"start_frame": 549, "end_frame": 940, "action_text": "pick up the yellow packaged product from the freezer", "skill": "Pick", "language_memory": "The robot has opened the freezer door and bent over."}, {"start_frame": 940, "end_frame": 1588, "action_text": "pick up the white packaged product from the freezer", "skill": "Pick", "language_memory": "The robot opened the freezer door, bent over, and picked up the yellow packaged product from the freezer."}, {"start_frame": 1588, "end_frame": 1676, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot opened the freezer door, bent over, and picked up the yellow and white packaged products from the freezer."}, {"start_frame": 1676, "end_frame": 1864, "action_text": "bend at the waist while lowering the body", "skill": "AdjustPosture", "language_memory": "The robot opened the freezer door, bent over, and picked up yellow and white packaged products from the freezer before adjusting its posture."}, {"start_frame": 1864, "end_frame": 1976, "action_text": "place the green bagged goods into the shopping cart", "skill": "Place", "language_memory": "The robot opened the freezer door, bent over, picked up yellow and white packaged products from the freezer, and adjusted its posture."}, {"start_frame": 1976, "end_frame": 2108, "action_text": "place the yellow bagged goods into the shopping cart", "skill": "Place", "language_memory": "The robot opened the freezer door, picked up yellow and white packaged products, and placed green bagged goods into the shopping cart."}, {"start_frame": 2108, "end_frame": 2210, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot opened the freezer, retrieved yellow and white packaged products, adjusted its posture, and placed green and yellow bagged goods into the shopping cart."}, {"start_frame": 2210, "end_frame": 2337, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot opened the freezer, retrieved yellow and white packaged products, and placed green and yellow bagged goods into the shopping cart."}, {"start_frame": 2337, "end_frame": 2705, "action_text": "close the freezer door", "skill": "Close", "language_memory": "The robot opened the freezer, retrieved yellow and white packaged products, and placed green and yellow bagged goods into the shopping cart."}], "detailed_task_instruction": ["Open the freezer door and bend over to retrieve the yellow packaged product and the white packaged product from inside. Adjust your posture, bend at the waist, and place the green bagged goods into the shopping cart. Next, adjust your posture again, rotate your waist, and place the yellow bagged goods into the shopping cart. Finally, close the freezer door to complete the restocking process."]}
{"task_id": "task_3705", "episode_index": 8, "video_path": "task_3705/videos/chunk-000/{video_key}/episode_000008.mp4", "tasks": ["Restocking the product from the freezer to the cart."], "length": 2062, "action_config": [{"start_frame": 12, "end_frame": 272, "action_text": "open the freezer door", "skill": "Open", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 272, "end_frame": 348, "action_text": "as the height decreases, the waist bends downward", "skill": "AdjustPosture", "language_memory": "The freezer door has been opened."}, {"start_frame": 348, "end_frame": 567, "action_text": "pick up the yellow packaged product from the freezer", "skill": "Pick", "language_memory": "The robot has opened the freezer door and bent its waist downward as the height decreased."}, {"start_frame": 567, "end_frame": 684, "action_text": "hand over the yellow bagged product", "skill": "Handover", "language_memory": "The robot opened the freezer door, adjusted its waist height, and picked up a yellow packaged product from the freezer."}, {"start_frame": 684, "end_frame": 951, "action_text": "pick up the yellow packaged product from the freezer", "skill": "Pick", "language_memory": "The robot opened the freezer door, adjusted its waist height, picked up a yellow packaged product, and handed it over."}, {"start_frame": 951, "end_frame": 1029, "action_text": "as the height increases, the waist rises upward", "skill": "AdjustPosture", "language_memory": "The robot opened the freezer door, adjusted its waist height, and picked up multiple yellow packaged products from the freezer."}, {"start_frame": 1029, "end_frame": 1231, "action_text": "bend at the waist while lowering the body", "skill": "AdjustPosture", "language_memory": "The robot opened the freezer door, adjusted its waist height, and retrieved two yellow packaged products from the freezer."}, {"start_frame": 1231, "end_frame": 1331, "action_text": "place the yellow packaged goods into the shopping cart", "skill": "Place", "language_memory": "The robot opened the freezer door, adjusted its waist height, and picked up multiple yellow packaged products from the freezer."}, {"start_frame": 1331, "end_frame": 1443, "action_text": "place the yellow packaged goods into the shopping cart", "skill": "Place", "language_memory": "The robot opened the freezer door, adjusted its waist height, picked up yellow packaged products from the freezer, and placed them into the shopping cart."}, {"start_frame": 1443, "end_frame": 1486, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot opened the freezer door, bent its waist to adjust height, picked up yellow packaged products from the freezer, and placed them into the shopping cart."}, {"start_frame": 1486, "end_frame": 1661, "action_text": "increase height", "skill": "AdjustPosture", "language_memory": "The robot opened the freezer door, picked up yellow packaged products, and placed them into the shopping cart while adjusting its posture."}, {"start_frame": 1661, "end_frame": 2034, "action_text": "close the freezer door", "skill": "Close", "language_memory": "The robot opened the freezer door, picked up yellow packaged products, and placed them into the shopping cart while adjusting its posture."}], "detailed_task_instruction": ["Open the freezer door and bend your waist downward to reach inside. Pick up the first yellow packaged product, then hand it over before picking up the second yellow packaged product from the freezer. As you lift the second item, rise your waist upward. Place both yellow packaged goods into the shopping cart. Adjust your robot posture and increase your height. Finally, close the freezer door to complete the restocking process."]}
{"task_id": "task_3705", "episode_index": 9, "video_path": "task_3705/videos/chunk-000/{video_key}/episode_000009.mp4", "tasks": ["Restocking the product from the freezer to the cart."], "length": 2413, "action_config": [{"start_frame": 20, "end_frame": 361, "action_text": "open the freezer door", "skill": "Open", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 361, "end_frame": 479, "action_text": "pick up the body", "skill": "Pick", "language_memory": "The freezer door has been opened."}, {"start_frame": 479, "end_frame": 852, "action_text": "pick up the yellow packaged product from the freezer", "skill": "Pick", "language_memory": "The robot has opened the freezer door and picked up the product body."}, {"start_frame": 852, "end_frame": 1294, "action_text": "pick up the white packaged product from the freezer", "skill": "Pick", "language_memory": "The robot opened the freezer door, picked up the body, and retrieved the yellow packaged product from the freezer."}, {"start_frame": 1294, "end_frame": 1368, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot opened the freezer door and retrieved the body, yellow packaged product, and white packaged product from the freezer."}, {"start_frame": 1368, "end_frame": 1469, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot opened the freezer door, picked up the body, the yellow packaged product, and the white packaged product from the freezer, and adjusted its posture."}, {"start_frame": 1469, "end_frame": 1537, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot opened the freezer door, retrieved the body, yellow packaged product, and white packaged product, and adjusted its posture and waist rotation."}, {"start_frame": 1537, "end_frame": 1662, "action_text": "place the yellow bagged product into the shopping cart", "skill": "Place", "language_memory": "The robot opened the freezer door, retrieved the body, yellow packaged product, and white packaged product, and adjusted its posture and waist rotation."}, {"start_frame": 1662, "end_frame": 1786, "action_text": "place the white bagged goods into the shopping cart", "skill": "Place", "language_memory": "The robot opened the freezer door, retrieved the body, yellow packaged product, and white packaged product, adjusted its posture and rotated its waist, and placed the yellow bagged product into the shopping cart."}, {"start_frame": 1786, "end_frame": 1892, "action_text": "pick up the object", "skill": "Pick", "language_memory": "The robot opened the freezer door, retrieved the body, yellow packaged product, and white packaged product from the freezer, adjusted its posture and rotated its waist, and placed both the yellow and white bagged products into the shopping cart."}, {"start_frame": 1892, "end_frame": 1959, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot opened the freezer door, retrieved the body, yellow packaged product, and white packaged product from the freezer, adjusted its posture and rotated its waist, and placed the yellow and white bagged products into the shopping cart."}, {"start_frame": 1959, "end_frame": 2022, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot opened the freezer door, retrieved the body, yellow packaged product, and white packaged product, adjusted its posture and rotated its waist, and successfully placed the yellow and white bagged products into the shopping cart."}, {"start_frame": 2022, "end_frame": 2412, "action_text": "close the freezer door", "skill": "Close", "language_memory": "The robot opened the freezer door, retrieved the body, yellow packaged product, and white packaged product, adjusted its posture and rotated its waist, and successfully placed the yellow and white bagged products into the shopping cart."}], "detailed_task_instruction": ["Open the freezer door and retrieve the body, the yellow packaged product, and the white packaged product from inside. Adjust the robot posture and rotate the waist to position the yellow bagged product for placement into the shopping cart, then do the same for the white bagged goods. After restocking, pick up the object, rotate the waist, and bend over to close the freezer door."]}
{"task_id": "task_3705", "episode_index": 10, "video_path": "task_3705/videos/chunk-000/{video_key}/episode_000010.mp4", "tasks": ["Restocking the product from the freezer to the cart."], "length": 2728, "action_config": [{"start_frame": 15, "end_frame": 412, "action_text": "open the freezer door", "skill": "Open", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 412, "end_frame": 650, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The freezer door has been opened."}, {"start_frame": 650, "end_frame": 1191, "action_text": "place the white bagged goods on the target", "skill": "Place", "language_memory": "The robot has opened the freezer door and adjusted its posture."}, {"start_frame": 1191, "end_frame": 1712, "action_text": "place the yellow bagged goods on the target", "skill": "Place", "language_memory": "The robot opened the freezer door, adjusted its posture, and placed the white bagged goods on the target."}, {"start_frame": 1712, "end_frame": 2057, "action_text": "pick up the orange packaged goods", "skill": "Pick", "language_memory": "The robot opened the freezer door, adjusted its posture, and placed white and yellow bagged goods on the target."}, {"start_frame": 2057, "end_frame": 2366, "action_text": "place the orange packaged goods into the freezer", "skill": "Place", "language_memory": "The robot opened the freezer door, adjusted its posture, placed white and yellow bagged goods on the target, and picked up orange packaged goods."}, {"start_frame": 2366, "end_frame": 2696, "action_text": "close the freezer door", "skill": "Close", "language_memory": "The robot opened the freezer door, adjusted its posture, placed white and yellow bagged goods on the target, and returned orange packaged goods to the freezer."}], "detailed_task_instruction": ["Open the freezer door and adjust the robot posture. Pick up the orange packaged goods and place them back into the freezer, then close the freezer door. Next, place the white bagged goods on the target, followed by placing the yellow bagged goods on the target to complete the restocking process."]}
{"task_id": "task_3705", "episode_index": 11, "video_path": "task_3705/videos/chunk-000/{video_key}/episode_000011.mp4", "tasks": ["Restocking the product from the freezer to the cart."], "length": 1832, "action_config": [{"start_frame": 0, "end_frame": 280, "action_text": "open the freezer door", "skill": "Open", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 280, "end_frame": 358, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The freezer door has been opened."}, {"start_frame": 358, "end_frame": 537, "action_text": "pick up the white packaged product from the freezer", "skill": "Pick", "language_memory": "The robot has opened the freezer door and bent over."}, {"start_frame": 537, "end_frame": 643, "action_text": "hand over the white bagged product", "skill": "Handover", "language_memory": "The robot opened the freezer door, bent over, and picked up the white packaged product from the freezer."}, {"start_frame": 643, "end_frame": 848, "action_text": "pick up the yellow packaged product from the freezer", "skill": "Pick", "language_memory": "The robot opened the freezer door, bent over, picked up a white packaged product from the freezer, and handed it over."}, {"start_frame": 848, "end_frame": 910, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot opened the freezer door, bent over, and retrieved white and yellow packaged products from the freezer before handing over the white bagged product."}, {"start_frame": 910, "end_frame": 1062, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot opened the freezer door, bent over, picked up and handed over a white packaged product, picked up a yellow packaged product, and adjusted its posture."}, {"start_frame": 1062, "end_frame": 1167, "action_text": "place the yellow bagged item into the shopping cart", "skill": "Place", "language_memory": "The robot opened the freezer door, bent over, picked up and handed over a white packaged product, picked up a yellow packaged product, and adjusted its posture."}, {"start_frame": 1167, "end_frame": 1279, "action_text": "place the white packaged goods into the shopping cart", "skill": "Place", "language_memory": "The robot opened the freezer, retrieved white and yellow packaged products, and placed the yellow item into the shopping cart."}, {"start_frame": 1279, "end_frame": 1324, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot opened the freezer, retrieved white and yellow packaged products, and placed both items into the shopping cart."}, {"start_frame": 1324, "end_frame": 1527, "action_text": "as the height increases, the waist bends downward", "skill": "AdjustPosture", "language_memory": "The robot opened the freezer, retrieved white and yellow packaged products, and placed both items into the shopping cart."}, {"start_frame": 1527, "end_frame": 1793, "action_text": "close the freezer door", "skill": "Close", "language_memory": "The robot opened the freezer, retrieved white and yellow packaged products, and successfully placed both items into the shopping cart while adjusting its posture throughout the process."}], "detailed_task_instruction": ["Open the freezer door and bend down to retrieve the white packaged product, then hand it over. Adjust your posture, bend down again, and pick up the yellow packaged product. After adjusting your posture once more, place the yellow bagged item into the shopping cart, followed by placing the white packaged goods into the cart. As your height increases, bend your waist downward, and finally close the freezer door to complete the restocking process."]}
{"task_id": "task_3705", "episode_index": 12, "video_path": "task_3705/videos/chunk-000/{video_key}/episode_000012.mp4", "tasks": ["Restocking the product from the freezer to the cart."], "length": 2063, "action_config": [{"start_frame": 17, "end_frame": 392, "action_text": "open the freezer door", "skill": "Open", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 392, "end_frame": 464, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The freezer door has been opened."}, {"start_frame": 464, "end_frame": 687, "action_text": "pick up the pink packaged product from the freezer", "skill": "Pick", "language_memory": "The robot has opened the freezer door and adjusted its posture."}, {"start_frame": 687, "end_frame": 806, "action_text": "hand over the pink bagged product", "skill": "Handover", "language_memory": "The robot opened the freezer door, adjusted its posture, and picked up the pink packaged product from the freezer."}, {"start_frame": 806, "end_frame": 1023, "action_text": "pick up the yellow packaged product from the freezer", "skill": "Pick", "language_memory": "The robot opened the freezer door, adjusted its posture, picked up a pink packaged product from the freezer, and handed it over."}, {"start_frame": 1023, "end_frame": 1082, "action_text": "as the height increases, the waist rises upward", "skill": "AdjustPosture", "language_memory": "The robot opened the freezer door, adjusted its posture, and retrieved both the pink and yellow packaged products from the freezer."}, {"start_frame": 1082, "end_frame": 1223, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot opened the freezer door, adjusted its posture, picked up and handed over a pink packaged product, picked up a yellow packaged product, and raised its waist as height increased."}, {"start_frame": 1223, "end_frame": 1370, "action_text": "place the yellow bagged goods into the shopping cart", "skill": "Place", "language_memory": "The robot opened the freezer door, adjusted its posture, picked up and handed over a pink packaged product, picked up a yellow packaged product, and modified its waist height and bending position."}, {"start_frame": 1370, "end_frame": 1479, "action_text": "place the pink packaged goods into the shopping cart", "skill": "Place", "language_memory": "The robot opened the freezer door, adjusted its posture, picked up and handed over a pink packaged product, picked up a yellow packaged product, and placed the yellow bagged goods into the shopping cart."}, {"start_frame": 1479, "end_frame": 1525, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot opened the freezer door, adjusted its posture, and successfully placed both the pink and yellow packaged products into the shopping cart."}, {"start_frame": 1525, "end_frame": 1683, "action_text": "as the height increases, the waist bends downward", "skill": "AdjustPosture", "language_memory": "The robot opened the freezer, retrieved pink and yellow packaged products, and placed both items into the shopping cart while adjusting its posture throughout the process."}, {"start_frame": 1683, "end_frame": 2036, "action_text": "close the freezer door", "skill": "Close", "language_memory": "The robot opened the freezer, retrieved pink and yellow packaged products, and successfully placed both items into the shopping cart while adjusting its posture throughout the process."}], "detailed_task_instruction": ["Open the freezer door and adjust your posture. Bend over to pick up the pink packaged product from the freezer, then hand it over. As your height increases, rise your waist upward. Next, bend over again to pick up the yellow packaged product from the freezer. Place the yellow bagged goods into the shopping cart, followed by placing the pink packaged goods into the shopping cart. Adjust your posture once more, bend your waist downward as your height increases, and finally close the freezer door."]}
{"task_id": "task_3705", "episode_index": 13, "video_path": "task_3705/videos/chunk-000/{video_key}/episode_000013.mp4", "tasks": ["Restocking the product from the freezer to the cart."], "length": 1980, "action_config": [{"start_frame": 13, "end_frame": 285, "action_text": "open the freezer door", "skill": "Open", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 285, "end_frame": 384, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The freezer door has been opened."}, {"start_frame": 384, "end_frame": 553, "action_text": "pick up the yellow packaged product from the freezer", "skill": "Pick", "language_memory": "The robot has opened the freezer door and adjusted its posture."}, {"start_frame": 553, "end_frame": 682, "action_text": "hand over the yellow bagged product", "skill": "Handover", "language_memory": "The robot opened the freezer door, adjusted its posture, and picked up the yellow packaged product from the freezer."}, {"start_frame": 682, "end_frame": 909, "action_text": "pick up the white packaged product from the freezer", "skill": "Pick", "language_memory": "The robot opened the freezer door, adjusted its posture, picked up a yellow packaged product from the freezer, and handed it over."}, {"start_frame": 909, "end_frame": 984, "action_text": "as height increases, the waist rises", "skill": "AdjustPosture", "language_memory": "The robot opened the freezer door, adjusted its posture, and retrieved both the yellow and white packaged products from the freezer."}, {"start_frame": 984, "end_frame": 1051, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot opened the freezer door, adjusted its posture, picked up and handed over a yellow packaged product, picked up a white packaged product, and raised its waist as height increased."}, {"start_frame": 1051, "end_frame": 1164, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot opened the freezer door, adjusted its posture, picked up and handed over a yellow packaged product, picked up a white packaged product, and adjusted its waist height and rotation."}, {"start_frame": 1164, "end_frame": 1277, "action_text": "place the white bagged goods into the shopping cart", "skill": "Place", "language_memory": "The robot opened the freezer door, adjusted its posture, picked up and handed over a yellow packaged product, picked up a white packaged product, and performed waist movements including rising, rotating, and bending."}, {"start_frame": 1277, "end_frame": 1411, "action_text": "place the yellow bagged goods into the shopping cart", "skill": "Place", "language_memory": "The robot opened the freezer door, adjusted its posture, picked up yellow and white packaged products from the freezer, and placed the white bagged goods into the shopping cart."}, {"start_frame": 1411, "end_frame": 1455, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot opened the freezer door, adjusted its posture, picked up yellow and white packaged products from the freezer, and placed both items into the shopping cart."}, {"start_frame": 1455, "end_frame": 1655, "action_text": "as the height increases, the waist bends downward", "skill": "AdjustPosture", "language_memory": "The robot opened the freezer, adjusted its posture, picked up yellow and white packaged products, and placed both into the shopping cart."}, {"start_frame": 1655, "end_frame": 1950, "action_text": "close the freezer door", "skill": "Close", "language_memory": "The robot opened the freezer, retrieved yellow and white packaged products, and successfully placed both items into the shopping cart while adjusting its posture throughout the task."}], "detailed_task_instruction": ["Open the freezer door and adjust your posture. Bend over and rotate your waist to pick up the yellow packaged product from the freezer, then hand it over. As your height increases, rise your waist. Next, bend over again, rotate your waist, and pick up the white packaged product from the freezer. Place the white bagged goods into the shopping cart, followed by placing the yellow bagged goods into the shopping cart. Finally, adjust your posture, bend your waist downward as your height increases, and close the freezer door."]}
{"task_id": "task_3705", "episode_index": 14, "video_path": "task_3705/videos/chunk-000/{video_key}/episode_000014.mp4", "tasks": ["Restocking the product from the freezer to the cart."], "length": 2709, "action_config": [{"start_frame": 33, "end_frame": 463, "action_text": "open the freezer door", "skill": "Open", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 463, "end_frame": 589, "action_text": "as the height increases, the waist bends downward", "skill": "AdjustPosture", "language_memory": "The freezer door has been opened."}, {"start_frame": 589, "end_frame": 768, "action_text": "pick up the yellow packaged product from the freezer", "skill": "Pick", "language_memory": "The robot opened the freezer door and adjusted its waist posture downward as the height increased."}, {"start_frame": 768, "end_frame": 850, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot opened the freezer door, adjusted its waist posture as the height increased, and picked up the yellow packaged product from the freezer."}, {"start_frame": 850, "end_frame": 1045, "action_text": "place the yellow packaged goods in the freezer", "skill": "Place", "language_memory": "The robot opened the freezer door, adjusted its waist posture to reach higher shelves, picked up a yellow packaged product, and rotated its waist."}, {"start_frame": 1045, "end_frame": 1464, "action_text": "place the white bagged goods on the target", "skill": "Place", "language_memory": "The robot opened the freezer door, adjusted its waist posture, picked up a yellow packaged product, rotated its waist, and placed the product back into the freezer."}, {"start_frame": 1464, "end_frame": 2053, "action_text": "pick up the yellow packaged product from the freezer", "skill": "Pick", "language_memory": "The robot opened the freezer door, adjusted its waist posture, picked up a yellow packaged product, rotated its waist, placed the yellow packaged goods back in the freezer, and placed white bagged goods on the target."}, {"start_frame": 2053, "end_frame": 2388, "action_text": "place the yellow packaged goods in the designated location inside the freezer", "skill": "Place", "language_memory": "The robot opened the freezer door, adjusted its waist posture, and successfully placed white bagged goods on the target while retrieving yellow packaged products from the freezer."}, {"start_frame": 2388, "end_frame": 2688, "action_text": "close the freezer door", "skill": "Close", "language_memory": "The robot opened the freezer door, adjusted its waist posture, and successfully placed white bagged goods on the target while retrieving and repositioning yellow packaged products within the freezer."}], "detailed_task_instruction": ["Open the freezer door and bend your waist downward as you reach higher shelves. Pick up a yellow packaged product from the freezer, rotate your waist, and place it back inside the designated location. Next, place the white bagged goods onto the target. Then, pick up another yellow packaged product from the freezer and place it in the designated location inside the freezer. Finally, close the freezer door to complete the restocking process."]}
{"task_id": "task_3705", "episode_index": 15, "video_path": "task_3705/videos/chunk-000/{video_key}/episode_000015.mp4", "tasks": ["Restocking the product from the freezer to the cart."], "length": 2764, "action_config": [{"start_frame": 20, "end_frame": 474, "action_text": "open the freezer door", "skill": "Open", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 474, "end_frame": 613, "action_text": "as height increases, the waist bends downward", "skill": "AdjustPosture", "language_memory": "The freezer door has been opened."}, {"start_frame": 613, "end_frame": 1229, "action_text": "pick up the yellow packaged product from the freezer", "skill": "Pick", "language_memory": "The robot opened the freezer door and adjusted its waist posture downward as height increased."}, {"start_frame": 1229, "end_frame": 1492, "action_text": "pick up the white bag of dumplings from the freezer", "skill": "Pick", "language_memory": "The robot opened the freezer door, adjusted its waist posture as height increased, and picked up the yellow packaged product from the freezer."}, {"start_frame": 1492, "end_frame": 1561, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot opened the freezer door, adjusted its waist posture, and retrieved a yellow packaged product and a white bag of dumplings from the freezer."}, {"start_frame": 1561, "end_frame": 1654, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot opened the freezer door, adjusted its waist posture to reach higher shelves, and picked up a yellow packaged product and a white bag of dumplings from the freezer."}, {"start_frame": 1654, "end_frame": 1749, "action_text": "as the height decreases, the waist bends downward", "skill": "AdjustPosture", "language_memory": "The robot opened the freezer door, adjusted its posture and waist orientation, and retrieved the yellow packaged product and white bag of dumplings from the freezer."}, {"start_frame": 1749, "end_frame": 1890, "action_text": "place the yellow bagged goods into the shopping cart", "skill": "Place", "language_memory": "The robot opened the freezer door, adjusted its posture and waist rotation, and successfully picked up a yellow packaged product and a white bag of dumplings from the freezer."}, {"start_frame": 1890, "end_frame": 2031, "action_text": "place the white bagged item into the shopping cart", "skill": "Place", "language_memory": "The robot opened the freezer door, adjusted its posture to varying heights, and successfully placed the yellow packaged product and the white bag of dumplings into the shopping cart."}, {"start_frame": 2031, "end_frame": 2167, "action_text": "pick up the object", "skill": "Pick", "language_memory": "The robot opened the freezer door, adjusted its posture to retrieve yellow packaged products and a white bag of dumplings, and successfully placed both items into the shopping cart."}, {"start_frame": 2167, "end_frame": 2323, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot opened the freezer door, adjusted its posture to retrieve items, and successfully placed the yellow packaged product and white bag of dumplings into the shopping cart before picking up an object."}, {"start_frame": 2323, "end_frame": 2763, "action_text": "close the freezer door", "skill": "Close", "language_memory": "The robot opened the freezer door, retrieved yellow packaged products and white bags of dumplings, and successfully placed all items into the shopping cart."}], "detailed_task_instruction": ["Open the freezer door and bend the waist downward to access the contents. Pick up the yellow packaged product and the white bag of dumplings from the freezer, adjusting the robot's posture and rotating the waist as height changes during retrieval. Place both the yellow bagged goods and the white bagged item into the shopping cart. After completing the restocking, bend over to close the freezer door securely."]}
{"task_id": "task_3705", "episode_index": 16, "video_path": "task_3705/videos/chunk-000/{video_key}/episode_000016.mp4", "tasks": ["Restocking the product from the freezer to the cart."], "length": 1959, "action_config": [{"start_frame": 0, "end_frame": 292, "action_text": "open the freezer door", "skill": "Open", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 292, "end_frame": 390, "action_text": "as the height decreases, the waist bends downward", "skill": "AdjustPosture", "language_memory": "The freezer door has been opened."}, {"start_frame": 390, "end_frame": 609, "action_text": "pick up the pink packaged product from the freezer", "skill": "Pick", "language_memory": "The robot has opened the freezer door and bent its waist downward as the height decreased."}, {"start_frame": 609, "end_frame": 750, "action_text": "hand over the pink bagged product", "skill": "Handover", "language_memory": "The robot opened the freezer door, adjusted its waist height, and picked up a pink packaged product from the freezer."}, {"start_frame": 750, "end_frame": 945, "action_text": "pick up the pink packaged product from the freezer", "skill": "Pick", "language_memory": "The robot opened the freezer door, adjusted its waist height, picked up a pink packaged product, and handed it over."}, {"start_frame": 945, "end_frame": 1027, "action_text": "as height increases, the waistline rises", "skill": "AdjustPosture", "language_memory": "The robot opened the freezer door, adjusted its waist height, and successfully picked up and handed over the pink packaged product."}, {"start_frame": 1027, "end_frame": 1109, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot opened the freezer door, adjusted its waist height, and retrieved two pink packaged products from the freezer."}, {"start_frame": 1109, "end_frame": 1170, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot opened the freezer door, adjusted its waist posture, and successfully retrieved and handed over two pink packaged products from the freezer."}, {"start_frame": 1170, "end_frame": 1272, "action_text": "place the pink packaged goods into the shopping cart", "skill": "Place", "language_memory": "The robot opened the freezer door, adjusted its waist posture, and successfully picked up and handed over pink packaged products from the freezer."}, {"start_frame": 1272, "end_frame": 1404, "action_text": "place the pink packaged product into the shopping cart", "skill": "Place", "language_memory": "The robot opened the freezer door, bent its waist to adjust height, picked up pink packaged products from the freezer, and placed them into the shopping cart."}, {"start_frame": 1404, "end_frame": 1446, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot opened the freezer door, bent its waist to adjust height, picked up pink packaged products from the freezer, and placed them into the shopping cart."}, {"start_frame": 1446, "end_frame": 1524, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot opened the freezer door, adjusted its posture to bend and rotate, picked up multiple pink packaged products from the freezer, and placed them into the shopping cart."}, {"start_frame": 1524, "end_frame": 1598, "action_text": "as the height increases, the waist bends downward", "skill": "AdjustPosture", "language_memory": "The robot opened the freezer door, adjusted its posture to retrieve multiple pink packaged products, and successfully placed them into the shopping cart."}, {"start_frame": 1598, "end_frame": 1924, "action_text": "close the freezer door", "skill": "Close", "language_memory": "The robot opened the freezer door, retrieved multiple pink packaged products, and successfully placed them into the shopping cart while adjusting its posture and waist orientation throughout the process."}], "detailed_task_instruction": ["Open the freezer door and bend downward to retrieve the first pink packaged product. Hand over the product, then rotate the waist and bend over again to pick up a second pink packaged product from the freezer. As height increases, rise the waistline and adjust the robot posture. Rotate the waist once more, then place both pink packaged goods into the shopping cart. Finally, close the freezer door to complete the restocking process."]}
{"task_id": "task_3705", "episode_index": 17, "video_path": "task_3705/videos/chunk-000/{video_key}/episode_000017.mp4", "tasks": ["Restocking the product from the freezer to the cart."], "length": 2505, "action_config": [{"start_frame": 11, "end_frame": 455, "action_text": "open the freezer door", "skill": "Open", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 455, "end_frame": 569, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The freezer door has been opened."}, {"start_frame": 569, "end_frame": 875, "action_text": "pick up the yellow packaged product from the freezer", "skill": "Pick", "language_memory": "The robot has opened the freezer door and bent over."}, {"start_frame": 875, "end_frame": 1130, "action_text": "place the yellow packaged goods in the freezer", "skill": "Place", "language_memory": "The robot opened the freezer door, bent over, and picked up the yellow packaged product from the freezer."}, {"start_frame": 1130, "end_frame": 1586, "action_text": "place the white bagged goods on the target", "skill": "Place", "language_memory": "The robot opened the freezer door, bent over, and placed the yellow packaged goods back into the freezer."}, {"start_frame": 1586, "end_frame": 1898, "action_text": "pick up the yellow packaged product from the freezer", "skill": "Pick", "language_memory": "The robot opened the freezer door, bent over, and successfully placed the white bagged goods on the target."}, {"start_frame": 1898, "end_frame": 2154, "action_text": "place the yellow bagged product in the corresponding position inside the freezer", "skill": "Place", "language_memory": "The robot opened the freezer door, bent over, and successfully placed white bagged goods on the target while retrieving yellow packaged products from the freezer."}, {"start_frame": 2154, "end_frame": 2479, "action_text": "close the freezer door", "skill": "Close", "language_memory": "The robot opened the freezer door, adjusted its posture, and organized the contents by placing white bagged goods on the target and arranging yellow packaged products inside the freezer."}], "detailed_task_instruction": ["Open the freezer door and bend over to access the contents. Pick up the first yellow packaged product from the freezer and place it into the cart. Return to the freezer to pick up the second yellow packaged product, then place it into the corresponding position inside the freezer. Next, place the white bagged goods onto the target. Finally, place the yellow packaged goods back into the freezer and close the freezer door to complete the restocking process."]}
{"task_id": "task_3705", "episode_index": 18, "video_path": "task_3705/videos/chunk-000/{video_key}/episode_000018.mp4", "tasks": ["Restocking the product from the freezer to the cart."], "length": 1909, "action_config": [{"start_frame": 0, "end_frame": 309, "action_text": "open the freezer door", "skill": "Open", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 309, "end_frame": 400, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The freezer door has been opened."}, {"start_frame": 400, "end_frame": 615, "action_text": "pick up the white packaged goods", "skill": "Pick", "language_memory": "The robot has opened the freezer door and adjusted its posture."}, {"start_frame": 615, "end_frame": 786, "action_text": "hand over the white bagged product", "skill": "Handover", "language_memory": "The robot opened the freezer door, adjusted its posture, and picked up the white packaged goods."}, {"start_frame": 786, "end_frame": 1005, "action_text": "pick up the yellow packaged product from the freezer", "skill": "Pick", "language_memory": "The robot opened the freezer door, adjusted its posture, picked up the white packaged goods, and handed over the white bagged product."}, {"start_frame": 1005, "end_frame": 1064, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot opened the freezer door, adjusted its posture, picked up and handed over a white packaged product, and picked up a yellow packaged product from the freezer."}, {"start_frame": 1064, "end_frame": 1199, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot opened the freezer door, adjusted its posture, picked up and handed over a white packaged product, and picked up a yellow packaged product from the freezer."}, {"start_frame": 1199, "end_frame": 1302, "action_text": "place the yellow packaged goods into the shopping cart", "skill": "Place", "language_memory": "The robot opened the freezer door, adjusted its posture, picked up and handed over a white packaged product, picked up a yellow packaged product, and bent over."}, {"start_frame": 1302, "end_frame": 1401, "action_text": "place the white bagged goods into the shopping cart", "skill": "Place", "language_memory": "The robot opened the freezer door, adjusted its posture, picked up white and yellow packaged goods from the freezer, and placed the yellow packaged goods into the shopping cart."}, {"start_frame": 1401, "end_frame": 1439, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot opened the freezer door, adjusted its posture, picked up white and yellow packaged goods from the freezer, and placed both items into the shopping cart."}, {"start_frame": 1439, "end_frame": 1620, "action_text": "as the height increases, the waist bends downward", "skill": "AdjustPosture", "language_memory": "The robot opened the freezer door, adjusted its posture, picked up white and yellow packaged goods from the freezer, and placed both items into the shopping cart."}, {"start_frame": 1620, "end_frame": 1889, "action_text": "close the freezer door", "skill": "Close", "language_memory": "The robot opened the freezer door, adjusted its posture multiple times, picked up white and yellow packaged goods from the freezer, and placed both items into the shopping cart."}], "detailed_task_instruction": ["Open the freezer door and adjust the robot posture. Pick up the white packaged goods and hand them over. Then, adjust the robot posture, bend over, and pick up the yellow packaged product from the freezer. As the height increases, bend the waist downward to place the yellow packaged goods into the shopping cart, followed by placing the white bagged goods into the shopping cart. Finally, adjust the robot posture and close the freezer door."]}
{"task_id": "task_3705", "episode_index": 19, "video_path": "task_3705/videos/chunk-000/{video_key}/episode_000019.mp4", "tasks": ["Restocking the product from the freezer to the cart."], "length": 2064, "action_config": [{"start_frame": 30, "end_frame": 460, "action_text": "open the freezer door", "skill": "Open", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 460, "end_frame": 577, "action_text": "as the height increases, the waist bends downward", "skill": "AdjustPosture", "language_memory": "The freezer door has been opened."}, {"start_frame": 577, "end_frame": 1123, "action_text": "pick up the green packaged product from the freezer", "skill": "Pick", "language_memory": "The robot opened the freezer door and adjusted its waist posture downward as the height increased."}, {"start_frame": 1123, "end_frame": 1429, "action_text": "pick up the red packaged product from the freezer", "skill": "Pick", "language_memory": "The robot opened the freezer door, adjusted its waist posture as the height increased, and picked up the green packaged product from the freezer."}, {"start_frame": 1429, "end_frame": 1548, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot opened the freezer door, adjusted its waist posture, and retrieved green and red packaged products from the freezer."}, {"start_frame": 1548, "end_frame": 1812, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot opened the freezer door, adjusted its waist posture to accommodate increasing height, and retrieved both the green and red packaged products from the freezer."}, {"start_frame": 1812, "end_frame": 1953, "action_text": "place the green bagged goods into the shopping cart", "skill": "Place", "language_memory": "The robot opened the freezer door, adjusted its waist posture to accommodate increasing height, and retrieved both the green and red packaged products from the freezer."}, {"start_frame": 1953, "end_frame": 2063, "action_text": "place the red packaged goods into the shopping cart", "skill": "Place", "language_memory": "The robot opened the freezer door, picked up green and red packaged products, and placed the green bagged goods into the shopping cart while adjusting its posture."}], "detailed_task_instruction": ["Open the freezer door and bend the waist downward as height increases to access the contents. Pick up the green packaged product followed by the red packaged product from the freezer. Adjust the robot posture to facilitate the next movements. Finally, place the green bagged goods into the shopping cart, followed by placing the red packaged goods into the shopping cart to complete the restocking process."]}
{"task_id": "task_3705", "episode_index": 20, "video_path": "task_3705/videos/chunk-000/{video_key}/episode_000020.mp4", "tasks": ["Restocking the product from the freezer to the cart."], "length": 2482, "action_config": [{"start_frame": 10, "end_frame": 444, "action_text": "open the freezer door", "skill": "Open", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 444, "end_frame": 594, "action_text": "as the height increases, the waist bends downward", "skill": "AdjustPosture", "language_memory": "The freezer door has been opened."}, {"start_frame": 594, "end_frame": 757, "action_text": "pick up the yellow packaged product from the freezer", "skill": "Pick", "language_memory": "The robot opened the freezer door and adjusted its waist posture downward as the height increased."}, {"start_frame": 757, "end_frame": 1003, "action_text": "place the yellow bagged product in the designated position inside the freezer", "skill": "Place", "language_memory": "The robot opened the freezer door, adjusted its waist posture as the height increased, and picked up the yellow packaged product from the freezer."}, {"start_frame": 1003, "end_frame": 1197, "action_text": "pick up the white packaged goods", "skill": "Pick", "language_memory": "The robot opened the freezer door, adjusted its waist posture as the height increased, picked up a yellow packaged product from the freezer, and placed it in the designated position inside the freezer."}, {"start_frame": 1197, "end_frame": 1286, "action_text": "bend your body downward while rotating your waist", "skill": "AdjustPosture", "language_memory": "The robot opened the freezer door, adjusted its waist posture, and retrieved a yellow packaged product before placing it back and picking up white packaged goods."}, {"start_frame": 1286, "end_frame": 1426, "action_text": "place the white bagged product in the freezer", "skill": "Place", "language_memory": "The robot opened the freezer door, adjusted its waist height, and retrieved yellow and white packaged products from the freezer."}, {"start_frame": 1426, "end_frame": 1611, "action_text": "pick up the yellow packaged product from the freezer", "skill": "Pick", "language_memory": "The robot opened the freezer door, adjusted its waist posture, and successfully picked up and placed both the yellow and white packaged products inside the freezer."}, {"start_frame": 1611, "end_frame": 1748, "action_text": "bend your body downward while rotating your waist", "skill": "AdjustPosture", "language_memory": "The robot opened the freezer door, adjusted its waist posture, and retrieved multiple yellow and white packaged products from the freezer."}, {"start_frame": 1748, "end_frame": 2166, "action_text": "place the yellow bagged merchandise on the target", "skill": "Place", "language_memory": "The robot opened the freezer door, adjusted its waist posture, and retrieved multiple yellow and white packaged products from the freezer."}, {"start_frame": 2166, "end_frame": 2221, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot opened the freezer door, adjusted its posture to varying heights, and successfully retrieved and placed multiple yellow and white packaged products within the freezer before finally placing the last yellow package on the target."}, {"start_frame": 2221, "end_frame": 2481, "action_text": "close the freezer door", "skill": "Close", "language_memory": "The robot opened the freezer door, adjusted its posture, and successfully retrieved and placed multiple yellow and white packaged products within the freezer and onto the target."}], "detailed_task_instruction": ["Open the freezer door and bend your waist downward to pick up a yellow packaged product. Place this yellow bagged product in the designated position inside the freezer. Next, pick up the white packaged goods while bending your body downward and rotating your waist, then place the white bagged product back into the freezer. Retrieve another yellow packaged product from the freezer by bending your body downward and rotating your waist, and place this yellow bagged merchandise on the target cart. Adjust your robot posture as needed, and finally, close the freezer door to complete the restocking process."]}
{"task_id": "task_3705", "episode_index": 21, "video_path": "task_3705/videos/chunk-000/{video_key}/episode_000021.mp4", "tasks": ["Restocking the product from the freezer to the cart."], "length": 3017, "action_config": [{"start_frame": 80, "end_frame": 376, "action_text": "open the freezer door", "skill": "Open", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 376, "end_frame": 502, "action_text": "as the height increases, the waist bends downward", "skill": "AdjustPosture", "language_memory": "The freezer door has been opened."}, {"start_frame": 502, "end_frame": 876, "action_text": "pick up the red packaged product from the freezer", "skill": "Pick", "language_memory": "The robot opened the freezer door and adjusted its waist posture downward as the height increased."}, {"start_frame": 876, "end_frame": 1711, "action_text": "pick up the yellow packaged product from the freezer", "skill": "Pick", "language_memory": "The robot opened the freezer door, adjusted its waist posture as the height increased, and picked up the red packaged product from the freezer."}, {"start_frame": 1711, "end_frame": 1779, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot opened the freezer door, adjusted its waist posture, and retrieved red and yellow packaged products from the freezer."}, {"start_frame": 1779, "end_frame": 1992, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot opened the freezer door, adjusted its waist posture to accommodate increasing height, and picked up red and yellow packaged products from the freezer."}, {"start_frame": 1992, "end_frame": 2170, "action_text": "place the yellow bagged goods into the shopping cart", "skill": "Place", "language_memory": "The robot opened the freezer door, adjusted its posture to accommodate increasing height, and retrieved red and yellow packaged products from the freezer."}, {"start_frame": 2170, "end_frame": 2309, "action_text": "place the red packaged product into the shopping cart", "skill": "Place", "language_memory": "The robot opened the freezer door, picked up red and yellow packaged products, and placed the yellow bagged goods into the shopping cart."}, {"start_frame": 2309, "end_frame": 2419, "action_text": "pick up the object", "skill": "Pick", "language_memory": "The robot opened the freezer door, adjusted its posture, and placed both the red and yellow packaged products into the shopping cart."}, {"start_frame": 2419, "end_frame": 2581, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot opened the freezer door, adjusted its posture, picked up red and yellow packaged products from the freezer, and placed both items into the shopping cart."}, {"start_frame": 2581, "end_frame": 3016, "action_text": "close the freezer door", "skill": "Close", "language_memory": "The robot opened the freezer door, picked up red and yellow packaged products, and placed them into the shopping cart while adjusting its posture and bending as needed."}], "detailed_task_instruction": ["Open the freezer door and bend downward to access the contents. Pick up the red packaged product and the yellow packaged product from the freezer, adjusting the robot posture as needed during retrieval. Place the yellow bagged goods into the shopping cart, followed by placing the red packaged product into the shopping cart. After ensuring the object is secured, close the freezer door to complete the restocking process."]}
{"task_id": "task_3705", "episode_index": 22, "video_path": "task_3705/videos/chunk-000/{video_key}/episode_000022.mp4", "tasks": ["Restocking the product from the freezer to the cart."], "length": 2698, "action_config": [{"start_frame": 0, "end_frame": 453, "action_text": "open the freezer door", "skill": "Open", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 453, "end_frame": 583, "action_text": "as the height increases, the waist bends downward", "skill": "AdjustPosture", "language_memory": "The freezer door has been opened."}, {"start_frame": 583, "end_frame": 747, "action_text": "pick up the yellow packaged product from the freezer", "skill": "Pick", "language_memory": "The robot opened the freezer door and adjusted its waist posture downward as the height increased."}, {"start_frame": 747, "end_frame": 1001, "action_text": "place the yellow packaged product in the freezer", "skill": "Place", "language_memory": "The robot opened the freezer door, adjusted its waist posture as the height increased, and picked up the yellow packaged product from the freezer."}, {"start_frame": 1001, "end_frame": 1542, "action_text": "place the white bagged goods on the target", "skill": "Place", "language_memory": "The robot opened the freezer door, adjusted its waist posture as height increased, and placed a yellow packaged product back into the freezer."}, {"start_frame": 1542, "end_frame": 1692, "action_text": "bend your body downward while rotating your waist", "skill": "AdjustPosture", "language_memory": "The robot opened the freezer door, adjusted its waist height, and successfully placed the white bagged goods on the target."}, {"start_frame": 1692, "end_frame": 2026, "action_text": "pick up the yellow packaged product from the freezer", "skill": "Pick", "language_memory": "The robot opened the freezer door, adjusted its waist height, picked up a yellow packaged product, placed it back in the freezer, and placed white bagged goods on the target while bending and rotating its waist."}, {"start_frame": 2026, "end_frame": 2185, "action_text": "place the yellow packaged goods in the freezer", "skill": "Place", "language_memory": "The robot opened the freezer door, adjusted its waist posture, and successfully picked up and placed the yellow packaged product and white bagged goods into the freezer."}, {"start_frame": 2185, "end_frame": 2385, "action_text": "place the yellow bagged product on the target", "skill": "Place", "language_memory": "The robot opened the freezer door, adjusted its posture by bending downward, and successfully placed white bagged goods on the target while retrieving and returning yellow packaged products to the freezer."}, {"start_frame": 2385, "end_frame": 2697, "action_text": "close the freezer door", "skill": "Close", "language_memory": "The robot opened the freezer door, adjusted its posture, and successfully retrieved and placed multiple yellow packaged products and white bagged goods onto the target."}], "detailed_task_instruction": ["Open the freezer door and bend your waist downward to pick up a yellow packaged product. Place this item back into the freezer, then position a white bagged good on the target. Next, bend your body downward while rotating your waist to retrieve another yellow packaged product from the freezer. Place this second yellow item back into the freezer and position a yellow bagged product on the target. Finally, close the freezer door to complete the restocking process."]}
{"task_id": "task_3705", "episode_index": 23, "video_path": "task_3705/videos/chunk-000/{video_key}/episode_000023.mp4", "tasks": ["Restocking the product from the freezer to the cart."], "length": 3007, "action_config": [{"start_frame": 38, "end_frame": 459, "action_text": "open the freezer door", "skill": "Open", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 459, "end_frame": 629, "action_text": "as height increases, the waist bends downward", "skill": "AdjustPosture", "language_memory": "The freezer door has been opened."}, {"start_frame": 629, "end_frame": 1231, "action_text": "pick up the green packaged product from the freezer", "skill": "Pick", "language_memory": "The robot opened the freezer door and adjusted its waist posture downward as height increased."}, {"start_frame": 1231, "end_frame": 1416, "action_text": "hand over the green bagged goods", "skill": "Handover", "language_memory": "The robot opened the freezer door, adjusted its waist posture as height increased, and picked up the green packaged product from the freezer."}, {"start_frame": 1416, "end_frame": 1752, "action_text": "pick up the red packaged product from the freezer", "skill": "Pick", "language_memory": "The robot opened the freezer door, adjusted its waist posture, picked up a green packaged product, and handed it over."}, {"start_frame": 1752, "end_frame": 1856, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot opened the freezer door, adjusted its waist posture, and picked up both the green and red packaged products from the freezer."}, {"start_frame": 1856, "end_frame": 2053, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot opened the freezer door, adjusted its posture, and successfully picked up and handed over both the green and red packaged products."}, {"start_frame": 2053, "end_frame": 2166, "action_text": "place the red packaged product into the shopping cart", "skill": "Place", "language_memory": "The robot opened the freezer door, adjusted its posture, picked up green and red packaged products from the freezer, and handed over the green bagged goods."}, {"start_frame": 2166, "end_frame": 2287, "action_text": "place the green bagged item into the shopping cart", "skill": "Place", "language_memory": "The robot opened the freezer door, picked up green and red packaged products, and placed the red product into the shopping cart while adjusting its posture."}, {"start_frame": 2287, "end_frame": 2403, "action_text": "pick up the object", "skill": "Pick", "language_memory": "The robot opened the freezer door, picked up green and red packaged products, and placed both items into the shopping cart."}, {"start_frame": 2403, "end_frame": 2588, "action_text": "bend the body downward while rotating the waist", "skill": "AdjustPosture", "language_memory": "The robot opened the freezer, retrieved green and red packaged products, and successfully placed both items into the shopping cart."}, {"start_frame": 2588, "end_frame": 3006, "action_text": "close the freezer door", "skill": "Close", "language_memory": "The robot opened the freezer, retrieved green and red packaged products, and successfully placed both items into the shopping cart while adjusting its posture throughout the process."}], "detailed_task_instruction": ["Open the freezer door and bend your waist downward to access the contents. First, pick up the green packaged product from the freezer, adjust your posture, and hand over the green bagged goods. Next, pick up the red packaged product from the freezer, adjust your posture again, and place the red packaged product into the shopping cart. Then, place the green bagged item into the shopping cart. After handling the items, pick up the object, bend your body downward while rotating your waist, and finally close the freezer door."]}
{"task_id": "task_3705", "episode_index": 24, "video_path": "task_3705/videos/chunk-000/{video_key}/episode_000024.mp4", "tasks": ["Restocking the product from the freezer to the cart."], "length": 2820, "action_config": [{"start_frame": 30, "end_frame": 450, "action_text": "open the freezer door", "skill": "Open", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 450, "end_frame": 582, "action_text": "as the height increases, the waist bends downward", "skill": "AdjustPosture", "language_memory": "The freezer door has been opened."}, {"start_frame": 582, "end_frame": 1116, "action_text": "pick up the red packaged product from the freezer", "skill": "Pick", "language_memory": "The robot opened the freezer door and adjusted its waist posture downward as the height increased."}, {"start_frame": 1116, "end_frame": 1384, "action_text": "pick up the red packaged product from the freezer", "skill": "Pick", "language_memory": "The robot opened the freezer door, adjusted its waist posture as the height increased, and picked up the red packaged product from the freezer."}, {"start_frame": 1384, "end_frame": 1461, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot opened the freezer door, adjusted its waist posture, and picked up red packaged products from the freezer."}, {"start_frame": 1461, "end_frame": 1576, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot opened the freezer door, adjusted its posture, and picked up red packaged products from the freezer."}, {"start_frame": 1576, "end_frame": 1696, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot opened the freezer door, adjusted its posture by bending the waist and rotating, and successfully picked up red packaged products from the freezer."}, {"start_frame": 1696, "end_frame": 1844, "action_text": "place the red packaged product into the shopping cart", "skill": "Place", "language_memory": "The robot opened the freezer door, adjusted its posture and waist orientation, and retrieved red packaged products from the freezer."}, {"start_frame": 1844, "end_frame": 1980, "action_text": "place the red packaged product into the shopping cart", "skill": "Place", "language_memory": "The robot opened the freezer door, picked up red packaged products, and placed them into the shopping cart."}, {"start_frame": 1980, "end_frame": 2078, "action_text": "pick up the object", "skill": "Pick", "language_memory": "The robot opened the freezer door, picked up red packaged products, and placed them into the shopping cart."}, {"start_frame": 2078, "end_frame": 2294, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot opened the freezer door, picked up red packaged products, and placed them into the shopping cart."}, {"start_frame": 2294, "end_frame": 2819, "action_text": "close the freezer door", "skill": "Close", "language_memory": "The robot opened the freezer door, picked up red packaged products from the freezer, and placed them into the shopping cart."}], "detailed_task_instruction": ["Open the freezer door and bend your waist downward to access the contents. Pick up the first red packaged product from the freezer, adjust your posture, rotate your waist, and then adjust your posture again before placing the product into the shopping cart. Repeat this sequence to pick up the second red packaged product and place it into the shopping cart. Finally, bend over to close the freezer door, completing the restocking process."]}
{"task_id": "task_3705", "episode_index": 25, "video_path": "task_3705/videos/chunk-000/{video_key}/episode_000025.mp4", "tasks": ["Restocking the product from the freezer to the cart."], "length": 2505, "action_config": [{"start_frame": 0, "end_frame": 446, "action_text": "open the freezer door", "skill": "Open", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 446, "end_frame": 632, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The freezer door has been opened."}, {"start_frame": 632, "end_frame": 1058, "action_text": "place the white bagged goods on the target", "skill": "Place", "language_memory": "The robot has opened the freezer door and rotated its waist."}, {"start_frame": 1058, "end_frame": 1196, "action_text": "bend your body downward while rotating your waist", "skill": "AdjustPosture", "language_memory": "The robot opened the freezer door, rotated its waist, and placed the white bagged goods on the target."}, {"start_frame": 1196, "end_frame": 1357, "action_text": "pick up the yellow packaged product from the freezer", "skill": "Pick", "language_memory": "The robot opened the freezer door, rotated its waist, placed the white bagged goods on the target, and bent downward while rotating its waist."}, {"start_frame": 1357, "end_frame": 1413, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot opened the freezer door, rotated its waist, placed white bagged goods on the target, bent downward while rotating, and picked up a yellow packaged product from the freezer."}, {"start_frame": 1413, "end_frame": 1632, "action_text": "place the yellow bagged product in the designated position inside the freezer", "skill": "Place", "language_memory": "The robot opened the freezer door, rotated its waist, bent downward, and placed the white bagged goods and yellow packaged product on the target."}, {"start_frame": 1632, "end_frame": 1888, "action_text": "pick up the yellow packaged product from the freezer", "skill": "Pick", "language_memory": "The robot opened the freezer door, rotated its waist, placed white bagged goods on the target, bent downward while rotating, picked up a yellow packaged product from the freezer, and placed the yellow bagged product inside the freezer."}, {"start_frame": 1888, "end_frame": 2083, "action_text": "place the yellow packaged goods in the freezer", "skill": "Place", "language_memory": "The robot opened the freezer door, rotated its waist, bent downward, and successfully placed white bagged goods on the target while picking up and repositioning yellow packaged products within the freezer."}, {"start_frame": 2083, "end_frame": 2504, "action_text": "close the freezer door", "skill": "Close", "language_memory": "The robot opened the freezer door, rotated its waist, and placed white bagged goods on the target. It then picked up and placed yellow packaged products within the freezer."}], "detailed_task_instruction": ["Open the freezer door and rotate your waist to access the contents. Bend downward while rotating your waist to pick up the white bagged goods and place them on the target cart. Next, retrieve the yellow packaged product from the freezer, rotate your waist, and place it back into the designated position inside the freezer. Afterward, pick up the yellow packaged product again and place it securely within the freezer. Finally, close the freezer door to complete the restocking process."]}
{"task_id": "task_3705", "episode_index": 26, "video_path": "task_3705/videos/chunk-000/{video_key}/episode_000026.mp4", "tasks": ["Restocking the product from the freezer to the cart."], "length": 2692, "action_config": [{"start_frame": 40, "end_frame": 518, "action_text": "open the freezer door", "skill": "Open", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 518, "end_frame": 645, "action_text": "as the height increases, the waist bends downward", "skill": "AdjustPosture", "language_memory": "The freezer door has been opened."}, {"start_frame": 645, "end_frame": 989, "action_text": "pick up the green packaged product from the freezer", "skill": "Pick", "language_memory": "The robot opened the freezer door and adjusted its waist posture downward as the height increased."}, {"start_frame": 989, "end_frame": 1372, "action_text": "pick up the red packaged product from the freezer", "skill": "Pick", "language_memory": "The robot opened the freezer door, adjusted its waist posture as the height increased, and picked up the green packaged product from the freezer."}, {"start_frame": 1372, "end_frame": 1451, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot opened the freezer door, adjusted its waist posture, and retrieved green and red packaged products from the freezer."}, {"start_frame": 1451, "end_frame": 1670, "action_text": "as the height decreases, the waist bends downward", "skill": "AdjustPosture", "language_memory": "The robot opened the freezer door, adjusted its waist posture to accommodate increasing height, and retrieved both the green and red packaged products from the freezer."}, {"start_frame": 1670, "end_frame": 1858, "action_text": "place the red bagged product into the shopping cart", "skill": "Place", "language_memory": "The robot opened the freezer door, picked up green and red packaged products, and adjusted its posture with waist bending movements to manage height changes."}, {"start_frame": 1858, "end_frame": 1974, "action_text": "place the green bagged item into the shopping cart", "skill": "Place", "language_memory": "The robot opened the freezer door, picked up green and red packaged products, adjusted its posture, and placed the red bagged product into the shopping cart."}, {"start_frame": 1974, "end_frame": 2087, "action_text": "pick up the object", "skill": "Pick", "language_memory": "The robot opened the freezer door, picked up green and red packaged products, and placed both items into the shopping cart."}, {"start_frame": 2087, "end_frame": 2290, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot opened the freezer door, picked up green and red packaged products, adjusted its posture, and placed both items into the shopping cart."}, {"start_frame": 2290, "end_frame": 2691, "action_text": "close the freezer door", "skill": "Close", "language_memory": "The robot opened the freezer door, picked up green and red packaged products, and placed both items into the shopping cart while adjusting its posture."}], "detailed_task_instruction": ["Open the freezer door and bend the waist downward as the height increases. Pick up the green packaged product from the freezer, then pick up the red packaged product. Adjust the robot posture and bend the waist downward as the height decreases. Place the red bagged product into the shopping cart, followed by placing the green bagged item into the shopping cart. Pick up the object, adjust the robot posture, and finally close the freezer door to complete the restocking process."]}
{"task_id": "task_3705", "episode_index": 27, "video_path": "task_3705/videos/chunk-000/{video_key}/episode_000027.mp4", "tasks": ["Restocking the product from the freezer to the cart."], "length": 2481, "action_config": [{"start_frame": 27, "end_frame": 418, "action_text": "open the freezer door", "skill": "Open", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 418, "end_frame": 547, "action_text": "as the height increases, the waist bends downward", "skill": "AdjustPosture", "language_memory": "The freezer door has been opened."}, {"start_frame": 547, "end_frame": 1036, "action_text": "place the white bagged goods on the target", "skill": "Place", "language_memory": "The robot opened the freezer door and adjusted its waist posture downward as the height increased."}, {"start_frame": 1036, "end_frame": 1320, "action_text": "pick up the yellow packaged product from the freezer", "skill": "Pick", "language_memory": "The robot opened the freezer door, adjusted its waist height, and placed the white bagged goods on the target."}, {"start_frame": 1320, "end_frame": 1550, "action_text": "place the yellow bagged product in the corresponding position inside the freezer", "skill": "Place", "language_memory": "The robot opened the freezer door, adjusted its waist posture, placed white bagged goods on the target, and picked up a yellow packaged product from the freezer."}, {"start_frame": 1550, "end_frame": 2189, "action_text": "place the yellow packaged goods on the target", "skill": "Place", "language_memory": "The robot opened the freezer door, adjusted its waist height, and organized the contents by placing white bagged goods on the target, picking up a yellow packaged product, and returning it to the freezer."}, {"start_frame": 2189, "end_frame": 2480, "action_text": "close the freezer door", "skill": "Close", "language_memory": "The robot opened the freezer door, adjusted its waist height, and successfully placed white and yellow bagged goods on the target while organizing yellow packaged products inside the freezer."}], "detailed_task_instruction": ["Open the freezer door and bend your waist downward as the height increases. Pick up the yellow packaged product from the freezer and place it back into the corresponding position inside the freezer. Then, pick up the white bagged goods and place them on the target. Finally, place the yellow packaged goods on the target and close the freezer door."]}
{"task_id": "task_3705", "episode_index": 28, "video_path": "task_3705/videos/chunk-000/{video_key}/episode_000028.mp4", "tasks": ["Restocking the product from the freezer to the cart."], "length": 2459, "action_config": [{"start_frame": 15, "end_frame": 456, "action_text": "open the freezer door", "skill": "Open", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 456, "end_frame": 565, "action_text": "as the height increases, the waist bends downward", "skill": "AdjustPosture", "language_memory": "The freezer door has been opened."}, {"start_frame": 565, "end_frame": 1038, "action_text": "place the white bagged goods on the target", "skill": "Place", "language_memory": "The robot opened the freezer door and adjusted its waist posture downward as the height increased."}, {"start_frame": 1038, "end_frame": 1137, "action_text": "rotate the waist while bending over", "skill": "Rotate", "language_memory": "The robot opened the freezer door, adjusted its waist height, and placed the white bagged goods on the target."}, {"start_frame": 1137, "end_frame": 1520, "action_text": "place the yellow packaged goods on the target", "skill": "Place", "language_memory": "The robot opened the freezer door, adjusted its waist posture to varying heights, and placed white bagged goods onto the target."}, {"start_frame": 1520, "end_frame": 1951, "action_text": "pick up the yellow packaged product from the freezer", "skill": "Pick", "language_memory": "The robot opened the freezer door, adjusted its waist posture, and placed white bagged goods and yellow packaged goods onto the target."}, {"start_frame": 1951, "end_frame": 2176, "action_text": "place the yellow bagged product in the freezer", "skill": "Place", "language_memory": "The robot opened the freezer door, adjusted its waist posture, and placed white bagged goods and yellow packaged goods onto the target."}, {"start_frame": 2176, "end_frame": 2458, "action_text": "close the freezer door", "skill": "Close", "language_memory": "The robot opened the freezer door, adjusted its waist posture, and placed white and yellow bagged goods on the target while rotating its waist, and also picked up and returned a yellow packaged product to the freezer."}], "detailed_task_instruction": ["Open the freezer door. As the height increases, bend your waist downward to pick up the yellow packaged product from the freezer. Rotate your waist while bending over to place the yellow bagged product back into the freezer. Then, pick up the white bagged goods and place them on the target. Finally, close the freezer door."]}
{"task_id": "task_3705", "episode_index": 29, "video_path": "task_3705/videos/chunk-000/{video_key}/episode_000029.mp4", "tasks": ["Restocking the product from the freezer to the cart."], "length": 2412, "action_config": [{"start_frame": 32, "end_frame": 447, "action_text": "open the freezer door", "skill": "Open", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 447, "end_frame": 580, "action_text": "as the height increases, the waist bends downward", "skill": "AdjustPosture", "language_memory": "The freezer door has been opened."}, {"start_frame": 580, "end_frame": 768, "action_text": "pick up the white packaged product from the freezer", "skill": "Pick", "language_memory": "The robot opened the freezer door and adjusted its waist posture downward as the height increased."}, {"start_frame": 768, "end_frame": 923, "action_text": "hand over the white bagged product", "skill": "Handover", "language_memory": "The robot opened the freezer door, adjusted its waist posture as the height increased, and picked up the white packaged product from the freezer."}, {"start_frame": 923, "end_frame": 1194, "action_text": "pick up the white packaged product from the freezer", "skill": "Pick", "language_memory": "The robot opened the freezer door, adjusted its waist posture as the height increased, picked up a white packaged product from the freezer, and handed over the white bagged product."}, {"start_frame": 1194, "end_frame": 1274, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot opened the freezer door, adjusted its waist posture, and successfully picked up and handed over multiple white packaged products from the freezer."}, {"start_frame": 1274, "end_frame": 1464, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot opened the freezer door, adjusted its posture, and picked up multiple white packaged products from the freezer."}, {"start_frame": 1464, "end_frame": 1592, "action_text": "place the white bagged item into the shopping cart", "skill": "Place", "language_memory": "The robot opened the freezer door, adjusted its posture, and picked up multiple white packaged products from the freezer."}, {"start_frame": 1592, "end_frame": 1714, "action_text": "place the white bagged goods into the shopping cart", "skill": "Place", "language_memory": "The robot opened the freezer door, picked up white packaged products, and placed them into the shopping cart."}, {"start_frame": 1714, "end_frame": 1834, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot opened the freezer door, picked up multiple white packaged products, and placed them into the shopping cart."}, {"start_frame": 1834, "end_frame": 2002, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot opened the freezer door, picked up multiple white packaged products, and placed them into the shopping cart while adjusting its posture throughout the process."}, {"start_frame": 2002, "end_frame": 2411, "action_text": "close the freezer door", "skill": "Close", "language_memory": "The robot opened the freezer door, picked up multiple white packaged products, and placed them into the shopping cart while adjusting its posture throughout the process."}], "detailed_task_instruction": ["Open the freezer door and bend downward to access the contents. Pick up the first white packaged product, adjust your posture, and hand it over. Then, pick up the second white packaged product, adjust your posture again, and place both white bagged items into the shopping cart. Finally, bend over to close the freezer door, completing the restocking process."]}
{"task_id": "task_3705", "episode_index": 30, "video_path": "task_3705/videos/chunk-000/{video_key}/episode_000030.mp4", "tasks": ["Restocking the product from the freezer to the cart."], "length": 2302, "action_config": [{"start_frame": 12, "end_frame": 379, "action_text": "open the freezer door", "skill": "Open", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 379, "end_frame": 517, "action_text": "as the height increases, the waist bends downward", "skill": "AdjustPosture", "language_memory": "The freezer door has been opened."}, {"start_frame": 517, "end_frame": 989, "action_text": "place the white bagged goods on the target", "skill": "Place", "language_memory": "The robot opened the freezer door and adjusted its waist posture downward as the height increased."}, {"start_frame": 989, "end_frame": 1094, "action_text": "rotate the waist while lifting the body", "skill": "Rotate", "language_memory": "The robot opened the freezer door, adjusted its waist height, and placed the white bagged goods on the target."}, {"start_frame": 1094, "end_frame": 1292, "action_text": "pick up the yellow packaged product from the freezer", "skill": "Pick", "language_memory": "The robot opened the freezer door, adjusted its waist posture to varying heights, and placed white bagged goods onto the target."}, {"start_frame": 1292, "end_frame": 1356, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot opened the freezer door, adjusted its waist posture, picked up a yellow packaged product and a white bagged good from the freezer, and placed the white bagged goods on the target."}, {"start_frame": 1356, "end_frame": 1586, "action_text": "place the yellow bagged product in the freezer", "skill": "Place", "language_memory": "The robot opened the freezer door, adjusted its posture by bending the waist as height increased, rotated the waist, picked up the yellow packaged product, and placed the white bagged goods on the target."}, {"start_frame": 1586, "end_frame": 1916, "action_text": "pick up the yellow packaged product from the freezer", "skill": "Pick", "language_memory": "The robot opened the freezer door, adjusted its posture, and successfully placed white bagged goods on the target while retrieving and returning a yellow packaged product to the freezer."}, {"start_frame": 1916, "end_frame": 2087, "action_text": "place the yellow packaged goods in the freezer", "skill": "Place", "language_memory": "The robot opened the freezer door, adjusted its posture, and successfully placed white bagged goods on the target while retrieving and repositioning yellow packaged products within the freezer."}, {"start_frame": 2087, "end_frame": 2301, "action_text": "close the freezer door", "skill": "Close", "language_memory": "The robot opened the freezer door, adjusted its posture, and successfully placed white and yellow bagged goods into the freezer."}], "detailed_task_instruction": ["Open the freezer door and bend your waist downward as you reach higher shelves. Pick up the yellow packaged product from the freezer, rotate your waist, and place it back inside. Next, pick up the white bagged goods and place them on the target cart. After restocking, rotate your waist while lifting your body to adjust your position. Finally, close the freezer door to complete the task."]}
{"task_id": "task_3705", "episode_index": 31, "video_path": "task_3705/videos/chunk-000/{video_key}/episode_000031.mp4", "tasks": ["Restocking the product from the freezer to the cart."], "length": 2765, "action_config": [{"start_frame": 18, "end_frame": 484, "action_text": "open the freezer door", "skill": "Open", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 484, "end_frame": 615, "action_text": "as height increases, the waist bends downward", "skill": "AdjustPosture", "language_memory": "The freezer door has been opened."}, {"start_frame": 615, "end_frame": 910, "action_text": "pick up the white packaged product from the freezer", "skill": "Pick", "language_memory": "The robot opened the freezer door and adjusted its waist posture downward as height increased."}, {"start_frame": 910, "end_frame": 1478, "action_text": "pick up the white packaged product from the freezer", "skill": "Pick", "language_memory": "The robot opened the freezer door, adjusted its waist posture as height increased, and picked up the white packaged product from the freezer."}, {"start_frame": 1478, "end_frame": 1612, "action_text": "pick up the object", "skill": "Pick", "language_memory": "The robot opened the freezer door, adjusted its waist posture, and picked up white packaged products from the freezer."}, {"start_frame": 1612, "end_frame": 1698, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot opened the freezer door, adjusted its waist posture, and retrieved white packaged products from the freezer."}, {"start_frame": 1698, "end_frame": 1769, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot opened the freezer door, adjusted its waist posture, and retrieved multiple white packaged products from the freezer."}, {"start_frame": 1769, "end_frame": 1873, "action_text": "place the white bagged items into the shopping cart", "skill": "Place", "language_memory": "The robot opened the freezer door, adjusted its posture and waist orientation, and retrieved white packaged products from the freezer."}, {"start_frame": 1873, "end_frame": 1999, "action_text": "place the white bagged item into the shopping cart", "skill": "Place", "language_memory": "The robot opened the freezer door, adjusted its posture, and placed the white packaged products into the shopping cart."}, {"start_frame": 1999, "end_frame": 2064, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot opened the freezer door, adjusted its posture, and placed the white packaged products into the shopping cart."}, {"start_frame": 2064, "end_frame": 2246, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot opened the freezer door, picked up white packaged products, and placed them into the shopping cart while adjusting its posture."}, {"start_frame": 2246, "end_frame": 2764, "action_text": "close the freezer door", "skill": "Close", "language_memory": "The robot opened the freezer door, picked up white packaged products, and placed them into the shopping cart while adjusting its posture."}], "detailed_task_instruction": ["Open the freezer door and adjust your posture to bend downward. Pick up the white packaged products from the freezer, rotating your waist and adjusting your robot posture as needed to handle the items at increasing heights. Place the white bagged items into the shopping cart. Finally, bend over to close the freezer door."]}
{"task_id": "task_3705", "episode_index": 32, "video_path": "task_3705/videos/chunk-000/{video_key}/episode_000032.mp4", "tasks": ["Restocking the product from the freezer to the cart."], "length": 2870, "action_config": [{"start_frame": 141, "end_frame": 603, "action_text": "open the freezer door", "skill": "Open", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 603, "end_frame": 733, "action_text": "as the height increases, the waist bends downward", "skill": "AdjustPosture", "language_memory": "The freezer door has been opened."}, {"start_frame": 733, "end_frame": 943, "action_text": "pick up the white packaged product from the freezer", "skill": "Pick", "language_memory": "The robot opened the freezer door and adjusted its waist posture downward as the height increased."}, {"start_frame": 943, "end_frame": 1466, "action_text": "pick up the white packaged product from the freezer", "skill": "Pick", "language_memory": "The robot opened the freezer door, adjusted its waist posture as the height increased, and picked up the white packaged product from the freezer."}, {"start_frame": 1466, "end_frame": 1635, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot opened the freezer door, adjusted its waist posture, and retrieved white packaged products from the freezer."}, {"start_frame": 1635, "end_frame": 1832, "action_text": "as the height decreases, the waist bends downward", "skill": "AdjustPosture", "language_memory": "The robot opened the freezer door, adjusted its posture, and picked up white packaged products from the freezer."}, {"start_frame": 1832, "end_frame": 1949, "action_text": "place the white bagged item into the shopping cart", "skill": "Place", "language_memory": "The robot opened the freezer door, adjusted its posture, and picked up white packaged products from the freezer."}, {"start_frame": 1949, "end_frame": 2040, "action_text": "place the white bagged item into the shopping cart", "skill": "Place", "language_memory": "The robot opened the freezer door, picked up white packaged products, and placed them into the shopping cart."}, {"start_frame": 2040, "end_frame": 2143, "action_text": "pick up the object", "skill": "Pick", "language_memory": "The robot opened the freezer door, picked up white packaged products, and placed them into the shopping cart."}, {"start_frame": 2143, "end_frame": 2260, "action_text": "bend your body downward while rotating your waist", "skill": "AdjustPosture", "language_memory": "The robot opened the freezer door, picked up white packaged products, and placed them into the shopping cart."}, {"start_frame": 2260, "end_frame": 2339, "action_text": "as the height increases, the waist bends downward", "skill": "AdjustPosture", "language_memory": "The robot opened the freezer door, retrieved white packaged products, and placed them into the shopping cart."}, {"start_frame": 2339, "end_frame": 2869, "action_text": "close the freezer door", "skill": "Close", "language_memory": "The robot opened the freezer door, retrieved white packaged products, and placed them into the shopping cart."}], "detailed_task_instruction": ["Open the freezer door and bend your waist downward to reach inside. Pick up the first white packaged product, adjust your posture, and bend your waist downward again to pick up the second white packaged product. Rotate your waist while bending downward to pick up the next object. As you rise, bend your waist upward, then close the freezer door. Finally, place the first white bagged item into the shopping cart, adjust your posture, and place the second white bagged item into the shopping cart."]}
{"task_id": "task_3705", "episode_index": 33, "video_path": "task_3705/videos/chunk-000/{video_key}/episode_000033.mp4", "tasks": ["Restocking the product from the freezer to the cart."], "length": 2346, "action_config": [{"start_frame": 196, "end_frame": 459, "action_text": "open the freezer door", "skill": "Open", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 459, "end_frame": 622, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The freezer door has been opened."}, {"start_frame": 622, "end_frame": 854, "action_text": "pick up the white packaged item from the freezer", "skill": "Pick", "language_memory": "The robot has opened the freezer door and adjusted its posture."}, {"start_frame": 854, "end_frame": 1001, "action_text": "hand over the white bagged product", "skill": "Handover", "language_memory": "The robot opened the freezer door, adjusted its posture, and picked up a white packaged item from the freezer."}, {"start_frame": 1001, "end_frame": 1227, "action_text": "pick up the white packaged item from the freezer", "skill": "Pick", "language_memory": "The robot opened the freezer door, adjusted its posture, picked up a white packaged item from the freezer, and handed over the white bagged product."}, {"start_frame": 1227, "end_frame": 1286, "action_text": "as the height increases, the waist tilts upward", "skill": "AdjustPosture", "language_memory": "The robot opened the freezer door, adjusted its posture, and successfully retrieved two white packaged items from the freezer."}, {"start_frame": 1286, "end_frame": 1508, "action_text": "bend at the waist while lowering the body", "skill": "AdjustPosture", "language_memory": "The robot opened the freezer door, adjusted its posture, and retrieved multiple white packaged items from the freezer."}, {"start_frame": 1508, "end_frame": 1619, "action_text": "place the white bagged goods into the shopping cart", "skill": "Place", "language_memory": "The robot opened the freezer door, adjusted its posture, and successfully retrieved multiple white packaged items from the freezer."}, {"start_frame": 1619, "end_frame": 1759, "action_text": "place the white bagged goods into the shopping cart", "skill": "Place", "language_memory": "The robot opened the freezer door, adjusted its posture, and successfully retrieved and placed multiple white packaged items into the shopping cart."}, {"start_frame": 1759, "end_frame": 1817, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot opened the freezer door, adjusted its posture, picked up white packaged items from the freezer, and placed them into the shopping cart."}, {"start_frame": 1817, "end_frame": 2040, "action_text": "increase height", "skill": "AdjustPosture", "language_memory": "The robot opened the freezer door, adjusted its posture, picked up white packaged items from the freezer, and placed them into the shopping cart."}, {"start_frame": 2040, "end_frame": 2345, "action_text": "close the freezer door", "skill": "Close", "language_memory": "The robot opened the freezer door, adjusted its posture, picked up white packaged items from the freezer, and placed them into the shopping cart."}], "detailed_task_instruction": ["Open the freezer door and adjust your posture. Bend at the waist to lower your body, then tilt your waist upward as you increase your height to pick up the first white packaged item from the freezer. Hand over the white bagged product and place it into the shopping cart. Repeat this process to pick up the second white packaged item from the freezer, hand it over, and place it into the shopping cart. Finally, adjust your posture, increase your height, and close the freezer door."]}
{"task_id": "task_3705", "episode_index": 34, "video_path": "task_3705/videos/chunk-000/{video_key}/episode_000034.mp4", "tasks": ["Restocking the product from the freezer to the cart."], "length": 2157, "action_config": [{"start_frame": 52, "end_frame": 334, "action_text": "open the freezer door", "skill": "Open", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 334, "end_frame": 416, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The freezer door has been opened."}, {"start_frame": 416, "end_frame": 658, "action_text": "pick up the white packaged product from the freezer", "skill": "Pick", "language_memory": "The robot has opened the freezer door and adjusted its posture."}, {"start_frame": 658, "end_frame": 855, "action_text": "hand over the white bagged product", "skill": "Handover", "language_memory": "The robot opened the freezer door, adjusted its posture, and picked up the white packaged product from the freezer."}, {"start_frame": 855, "end_frame": 1117, "action_text": "pick up the white packaged product from the freezer", "skill": "Pick", "language_memory": "The robot opened the freezer door, adjusted its posture, picked up a white packaged product from the freezer, and handed it over."}, {"start_frame": 1117, "end_frame": 1169, "action_text": "as the height increases, the waist rises upward", "skill": "AdjustPosture", "language_memory": "The robot opened the freezer door, adjusted its posture, and successfully retrieved two white packaged products from the freezer."}, {"start_frame": 1169, "end_frame": 1333, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot opened the freezer door, adjusted its posture, and retrieved multiple white packaged products from the freezer while raising its waist to accommodate increasing height."}, {"start_frame": 1333, "end_frame": 1427, "action_text": "place the white bagged item into the shopping cart", "skill": "Place", "language_memory": "The robot opened the freezer door, adjusted its posture, and picked up white packaged products from the freezer."}, {"start_frame": 1427, "end_frame": 1606, "action_text": "place the white bagged goods into the shopping cart", "skill": "Place", "language_memory": "The robot opened the freezer door, adjusted its posture, picked up white packaged products from the freezer, and placed them into the shopping cart."}, {"start_frame": 1606, "end_frame": 1665, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot opened the freezer door, adjusted its posture, picked up white packaged products from the freezer, and placed them into the shopping cart."}, {"start_frame": 1665, "end_frame": 1849, "action_text": "increase height", "skill": "AdjustPosture", "language_memory": "The robot opened the freezer door, adjusted its posture, picked up white packaged products from the freezer, and placed them into the shopping cart."}, {"start_frame": 1849, "end_frame": 2156, "action_text": "close the freezer door", "skill": "Close", "language_memory": "The robot opened the freezer door, adjusted its posture, picked up white packaged products from the freezer, and placed them into the shopping cart."}], "detailed_task_instruction": ["Open the freezer door and adjust your posture. Bend over to pick up the first white packaged product from the freezer, then stand up by rising your waist as you increase your height. Hand over the white bagged product. Return to the freezer, bend over again, and pick up the second white packaged product. Place both white bagged items into the shopping cart. Finally, adjust your posture, increase your height, and close the freezer door."]}
{"task_id": "task_3705", "episode_index": 35, "video_path": "task_3705/videos/chunk-000/{video_key}/episode_000035.mp4", "tasks": ["Restocking the product from the freezer to the cart."], "length": 2327, "action_config": [{"start_frame": 0, "end_frame": 270, "action_text": "open the freezer door", "skill": "Open", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 270, "end_frame": 397, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The freezer door has been opened."}, {"start_frame": 397, "end_frame": 817, "action_text": "pick up the white packaged product from the freezer", "skill": "Pick", "language_memory": "The robot has opened the freezer door and adjusted its posture."}, {"start_frame": 817, "end_frame": 958, "action_text": "hand over the white bagged product", "skill": "Handover", "language_memory": "The robot opened the freezer door, adjusted its posture, and picked up the white packaged product from the freezer."}, {"start_frame": 958, "end_frame": 1171, "action_text": "pick up the white packaged product from the freezer", "skill": "Pick", "language_memory": "The robot opened the freezer door, adjusted its posture, picked up a white packaged product from the freezer, and handed it over."}, {"start_frame": 1171, "end_frame": 1254, "action_text": "as the height increases, the waist rises upward", "skill": "AdjustPosture", "language_memory": "The robot opened the freezer door, adjusted its posture, and successfully retrieved two white packaged products from the freezer."}, {"start_frame": 1254, "end_frame": 1329, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot opened the freezer door, adjusted its posture, and retrieved multiple white packaged products from the freezer while raising its waist to accommodate increasing height."}, {"start_frame": 1329, "end_frame": 1444, "action_text": "bend at the waist while lowering the body", "skill": "AdjustPosture", "language_memory": "The robot opened the freezer door, adjusted its posture, and retrieved multiple white packaged products from the freezer while dynamically adjusting its waist height and rotation."}, {"start_frame": 1444, "end_frame": 1543, "action_text": "place the white bagged item into the shopping cart", "skill": "Place", "language_memory": "The robot opened the freezer door, adjusted its posture, and picked up white packaged products from the freezer while performing waist rotations and bending movements."}, {"start_frame": 1543, "end_frame": 1682, "action_text": "place the white bagged goods into the shopping cart", "skill": "Place", "language_memory": "The robot opened the freezer door, adjusted its posture, picked up white packaged products from the freezer, and placed them into the shopping cart."}, {"start_frame": 1682, "end_frame": 1726, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot opened the freezer door, adjusted its posture, picked up white packaged products from the freezer, and placed them into the shopping cart."}, {"start_frame": 1726, "end_frame": 1902, "action_text": "increase height", "skill": "AdjustPosture", "language_memory": "The robot opened the freezer door, adjusted its posture, picked up white packaged products from the freezer, and placed them into the shopping cart."}, {"start_frame": 1902, "end_frame": 2205, "action_text": "close the freezer door", "skill": "Close", "language_memory": "The robot opened the freezer door, adjusted its posture, picked up white packaged products from the freezer, and placed them into the shopping cart."}, {"start_frame": 2205, "end_frame": 2326, "action_text": "decrease height", "skill": "AdjustPosture", "language_memory": "The robot opened the freezer door, adjusted its posture, picked up white packaged products from the freezer, and placed them into the shopping cart before closing the freezer door."}], "detailed_task_instruction": ["Open the freezer door and adjust your posture. Bend at the waist while lowering your body, then rotate your waist to pick up the first white packaged product from the freezer. As you lift the item, rise your waist upward. Hand over the white bagged product and place it into the shopping cart. Adjust your posture again, increase your height, and pick up the second white packaged product from the freezer. Rotate your waist and place this second white bagged item into the shopping cart. Finally, decrease your height and close the freezer door."]}
{"task_id": "task_3705", "episode_index": 36, "video_path": "task_3705/videos/chunk-000/{video_key}/episode_000036.mp4", "tasks": ["Restocking the product from the freezer to the cart."], "length": 2590, "action_config": [{"start_frame": 0, "end_frame": 416, "action_text": "open the freezer door", "skill": "Open", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 416, "end_frame": 514, "action_text": "as the height decreases, the waist bends downward", "skill": "AdjustPosture", "language_memory": "The freezer door has been opened."}, {"start_frame": 514, "end_frame": 845, "action_text": "pick up the white packaged product from the freezer", "skill": "Pick", "language_memory": "The robot has opened the freezer door and bent its waist downward as the height decreased."}, {"start_frame": 845, "end_frame": 968, "action_text": "hand over the white bagged product", "skill": "Handover", "language_memory": "The robot opened the freezer door, adjusted its waist height, and picked up a white packaged product from the freezer."}, {"start_frame": 968, "end_frame": 1339, "action_text": "pick up the green packaged product from the freezer", "skill": "Pick", "language_memory": "The robot opened the freezer door, adjusted its waist height, picked up a white packaged product, and handed it over."}, {"start_frame": 1339, "end_frame": 1429, "action_text": "as the height increases, the waist rises upward", "skill": "AdjustPosture", "language_memory": "The robot opened the freezer door, adjusted its waist height, and picked up white and green packaged products from the freezer."}, {"start_frame": 1429, "end_frame": 1564, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot opened the freezer door, adjusted its waist height, and retrieved both the white and green packaged products from the freezer."}, {"start_frame": 1564, "end_frame": 1669, "action_text": "place the green bagged item into the shopping cart", "skill": "Place", "language_memory": "The robot opened the freezer door, picked up white and green packaged products, and adjusted its waist height accordingly."}, {"start_frame": 1669, "end_frame": 1792, "action_text": "place the white bagged goods into the shopping cart", "skill": "Place", "language_memory": "The robot opened the freezer, picked up white and green packaged products, and placed the green item into the shopping cart."}, {"start_frame": 1792, "end_frame": 1849, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot opened the freezer door, picked up white and green packaged products from the freezer, and placed both items into the shopping cart."}, {"start_frame": 1849, "end_frame": 2080, "action_text": "as the height increases, the waist bends downward", "skill": "AdjustPosture", "language_memory": "The robot opened the freezer, retrieved white and green packaged products, and placed both items into the shopping cart while adjusting its posture."}, {"start_frame": 2080, "end_frame": 2554, "action_text": "close the freezer door", "skill": "Close", "language_memory": "The robot opened the freezer, retrieved white and green packaged products, and successfully placed both items into the shopping cart while adjusting its posture throughout the process."}], "detailed_task_instruction": ["Open the freezer door and bend your waist downward. Pick up the white packaged product from the freezer and hand it over. Then, pick up the green packaged product from the freezer. As your height increases, rise your waist upward. Bend over and place the green bagged item into the shopping cart, followed by placing the white bagged goods into the shopping cart. Adjust your robot posture. Finally, close the freezer door."]}
{"task_id": "task_3705", "episode_index": 37, "video_path": "task_3705/videos/chunk-000/{video_key}/episode_000037.mp4", "tasks": ["Restocking the product from the freezer to the cart."], "length": 2314, "action_config": [{"start_frame": 60, "end_frame": 325, "action_text": "open the freezer door", "skill": "Open", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 325, "end_frame": 419, "action_text": "as the height decreases, the waist bends downward", "skill": "AdjustPosture", "language_memory": "The freezer door has been opened."}, {"start_frame": 419, "end_frame": 702, "action_text": "pick up the green packaged product from the freezer", "skill": "Pick", "language_memory": "The robot has opened the freezer door and bent its waist downward as the height decreased."}, {"start_frame": 702, "end_frame": 897, "action_text": "hand over the green bagged item", "skill": "Handover", "language_memory": "The robot opened the freezer door, adjusted its waist height, and picked up a green packaged product from the freezer."}, {"start_frame": 897, "end_frame": 1137, "action_text": "pick up the white packaged product from the freezer", "skill": "Pick", "language_memory": "The robot opened the freezer door, adjusted its waist height, picked up a green packaged product, and handed it over."}, {"start_frame": 1137, "end_frame": 1216, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot opened the freezer door, adjusted its waist height, and picked up both the green and white packaged products from the freezer."}, {"start_frame": 1216, "end_frame": 1428, "action_text": "bend the waist downward while lowering the body", "skill": "AdjustPosture", "language_memory": "The robot opened the freezer door, adjusted its posture, and successfully picked up and handed over both the green and white packaged products."}, {"start_frame": 1428, "end_frame": 1558, "action_text": "place the white bagged item into the shopping cart", "skill": "Place", "language_memory": "The robot opened the freezer door, picked up green and white packaged products, and adjusted its posture by bending downward."}, {"start_frame": 1558, "end_frame": 1707, "action_text": "place the green bagged goods into the shopping cart", "skill": "Place", "language_memory": "The robot opened the freezer door, picked up green and white packaged products, and placed the white bagged item into the shopping cart."}, {"start_frame": 1707, "end_frame": 1760, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot opened the freezer door, picked up green and white packaged products from the freezer, and placed both items into the shopping cart."}, {"start_frame": 1760, "end_frame": 1830, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot opened the freezer, retrieved green and white packaged products, and placed both items into the shopping cart while adjusting its posture."}, {"start_frame": 1830, "end_frame": 1986, "action_text": "as the height increases, the waist bends downward", "skill": "AdjustPosture", "language_memory": "The robot opened the freezer, retrieved green and white packaged products, and successfully placed both items into the shopping cart while adjusting its posture throughout the process."}, {"start_frame": 1986, "end_frame": 2313, "action_text": "close the freezer door", "skill": "Close", "language_memory": "The robot opened the freezer, retrieved green and white packaged products, and successfully placed both items into the shopping cart while adjusting its posture throughout the process."}], "detailed_task_instruction": ["Open the freezer door and bend the waist downward to pick up the green packaged product. Hand over the green bagged item, then adjust the robot posture and bend the waist downward again to pick up the white packaged product. Place the white bagged item into the shopping cart, followed by placing the green bagged goods into the shopping cart. Adjust the robot posture, rotate the waist, and bend the waist downward as the height increases before closing the freezer door."]}
{"task_id": "task_3705", "episode_index": 38, "video_path": "task_3705/videos/chunk-000/{video_key}/episode_000038.mp4", "tasks": ["Restocking the product from the freezer to the cart."], "length": 2512, "action_config": [{"start_frame": 30, "end_frame": 393, "action_text": "open the freezer door", "skill": "Open", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 393, "end_frame": 491, "action_text": "as the height increases, the waist bends downward", "skill": "AdjustPosture", "language_memory": "The freezer door has been opened."}, {"start_frame": 491, "end_frame": 753, "action_text": "pick up the white packaged goods", "skill": "Pick", "language_memory": "The robot opened the freezer door and adjusted its waist posture downward as the height increased."}, {"start_frame": 753, "end_frame": 910, "action_text": "hand over the white bagged product", "skill": "Handover", "language_memory": "The robot opened the freezer door, adjusted its waist posture as the height increased, and picked up the white packaged goods."}, {"start_frame": 910, "end_frame": 1280, "action_text": "pick up the white packaged goods", "skill": "Pick", "language_memory": "The robot opened the freezer door, adjusted its waist posture as the height increased, picked up the white packaged goods, and handed over the white bagged product."}, {"start_frame": 1280, "end_frame": 1392, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot opened the freezer door, adjusted its waist posture, and successfully picked up and handed over white packaged goods."}, {"start_frame": 1392, "end_frame": 1566, "action_text": "as the height decreases, the waist bends downward", "skill": "AdjustPosture", "language_memory": "The robot opened the freezer door, adjusted its posture, and successfully picked up and handed over white packaged goods."}, {"start_frame": 1566, "end_frame": 1681, "action_text": "place the white bagged goods into the shopping cart", "skill": "Place", "language_memory": "The robot opened the freezer door, adjusted its posture to varying heights, and successfully picked up and handed over white packaged goods."}, {"start_frame": 1681, "end_frame": 1793, "action_text": "place the white packaged goods into the shopping cart", "skill": "Place", "language_memory": "The robot opened the freezer door, adjusted its posture to varying heights, picked up white packaged goods, and placed them into the shopping cart."}, {"start_frame": 1793, "end_frame": 1890, "action_text": "as the height increases, the waist tilts upward", "skill": "AdjustPosture", "language_memory": "The robot opened the freezer door, adjusted its posture to varying heights, picked up white packaged goods, and placed them into the shopping cart."}, {"start_frame": 1890, "end_frame": 2001, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot opened the freezer door, adjusted its posture to varying heights, picked up white packaged goods, and placed them into the shopping cart."}, {"start_frame": 2001, "end_frame": 2070, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot opened the freezer door, adjusted its posture to varying heights, picked up white packaged goods, and placed them into the shopping cart."}, {"start_frame": 2070, "end_frame": 2511, "action_text": "close the freezer door", "skill": "Close", "language_memory": "The robot opened the freezer door, picked up white packaged goods, and placed them into the shopping cart while adjusting its posture."}], "detailed_task_instruction": ["Open the freezer door and adjust your posture by bending your waist downward as you reach higher. Pick up the white packaged goods, rotate your waist, and bend over to hand over the white bagged product. As the height decreases, continue bending your waist downward to pick up another white packaged good. Adjust your robot posture, then place both the white bagged goods and the white packaged goods into the shopping cart. Finally, as the height increases, tilt your waist upward, close the freezer door, and complete the restocking process."]}
{"task_id": "task_3705", "episode_index": 39, "video_path": "task_3705/videos/chunk-000/{video_key}/episode_000039.mp4", "tasks": ["Restocking the product from the freezer to the cart."], "length": 2656, "action_config": [{"start_frame": 31, "end_frame": 282, "action_text": "open the freezer door", "skill": "Open", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 282, "end_frame": 484, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The freezer door has been opened."}, {"start_frame": 484, "end_frame": 659, "action_text": "pick up the white bagged item from the shopping cart", "skill": "Pick", "language_memory": "The robot has opened the freezer door and bent over."}, {"start_frame": 659, "end_frame": 755, "action_text": "hand over the white bagged product", "skill": "Handover", "language_memory": "The robot opened the freezer door, bent over, and picked up a white bagged item from the shopping cart."}, {"start_frame": 755, "end_frame": 1298, "action_text": "pick up the white bagged item from the shopping cart", "skill": "Pick", "language_memory": "The robot opened the freezer door, bent over, picked up a white bagged item from the shopping cart, and handed it over."}, {"start_frame": 1298, "end_frame": 1344, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot opened the freezer door, bent over, and picked up a white bagged item from the shopping cart."}, {"start_frame": 1344, "end_frame": 1513, "action_text": "as the height decreases, the waist bends downward", "skill": "AdjustPosture", "language_memory": "The robot opened the freezer door, bent over, picked up and handed over a white bagged item from the shopping cart, and adjusted its posture."}, {"start_frame": 1513, "end_frame": 1683, "action_text": "place the white bagged goods in the freezer", "skill": "Place", "language_memory": "The robot opened the freezer door, adjusted its posture by bending over and lowering its waist, and successfully picked up and handed over a white bagged item from the shopping cart."}, {"start_frame": 1683, "end_frame": 2044, "action_text": "place the white bagged glutinous rice balls on the target", "skill": "Place", "language_memory": "The robot opened the freezer door, adjusted its posture to bend over, picked up white bagged items from the shopping cart, handed one over, and placed the remaining white bagged goods into the freezer."}, {"start_frame": 2044, "end_frame": 2290, "action_text": "place the white bagged soup product in the designated white bagged product section of the freezer", "skill": "Place", "language_memory": "The robot opened the freezer door, adjusted its posture, and successfully placed the white bagged glutinous rice balls into the freezer."}, {"start_frame": 2290, "end_frame": 2378, "action_text": "increase height", "skill": "AdjustPosture", "language_memory": "The robot opened the freezer door, adjusted its posture, and placed white bagged items including glutinous rice balls and soup products into the freezer."}, {"start_frame": 2378, "end_frame": 2635, "action_text": "close the freezer door", "skill": "Close", "language_memory": "The robot opened the freezer door, adjusted its posture, and placed white bagged items including glutinous rice balls and soup products into the freezer."}], "detailed_task_instruction": ["Open the freezer door and bend over to adjust your posture as your height decreases. Pick up the white bagged item from the shopping cart and hand it over, then pick up another white bagged item from the cart. Place the white bagged glutinous rice balls on the target and position the white bagged soup product in the designated white bagged product section of the freezer. Increase your height, close the freezer door, and complete the restocking process."]}
{"task_id": "task_3705", "episode_index": 40, "video_path": "task_3705/videos/chunk-000/{video_key}/episode_000040.mp4", "tasks": ["Restocking the product from the freezer to the cart."], "length": 2535, "action_config": [{"start_frame": 54, "end_frame": 444, "action_text": "open the freezer door", "skill": "Open", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 444, "end_frame": 544, "action_text": "as the height increases, the waist bends downward", "skill": "AdjustPosture", "language_memory": "The freezer door has been opened."}, {"start_frame": 544, "end_frame": 905, "action_text": "pick up the white packaged product from the freezer", "skill": "Pick", "language_memory": "The robot opened the freezer door and adjusted its waist posture downward as the height increased."}, {"start_frame": 905, "end_frame": 1225, "action_text": "pick up the white packaged item from the freezer", "skill": "Pick", "language_memory": "The robot opened the freezer door, adjusted its waist posture as the height increased, and picked up the white packaged product from the freezer."}, {"start_frame": 1225, "end_frame": 1294, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot opened the freezer door, adjusted its waist posture, and retrieved white packaged products from the freezer."}, {"start_frame": 1294, "end_frame": 1377, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot opened the freezer door, adjusted its posture, and picked up white packaged products from the freezer."}, {"start_frame": 1377, "end_frame": 1481, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot opened the freezer door, adjusted its posture and waist rotation, and retrieved multiple white packaged products from the freezer."}, {"start_frame": 1481, "end_frame": 1577, "action_text": "place the white bagged item into the shopping cart", "skill": "Place", "language_memory": "The robot opened the freezer door, adjusted its posture and waist orientation, and retrieved multiple white packaged products from the freezer."}, {"start_frame": 1577, "end_frame": 1729, "action_text": "place the white bagged goods into the shopping cart", "skill": "Place", "language_memory": "The robot opened the freezer door, picked up white packaged products, and placed them into the shopping cart."}, {"start_frame": 1729, "end_frame": 1858, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot opened the freezer door, picked up white packaged products, and placed them into the shopping cart."}, {"start_frame": 1858, "end_frame": 2060, "action_text": "pick up the object", "skill": "Pick", "language_memory": "The robot opened the freezer door, picked up multiple white packaged products, and placed them into the shopping cart while adjusting its posture and rotating its waist."}, {"start_frame": 2060, "end_frame": 2534, "action_text": "close the freezer door", "skill": "Close", "language_memory": "The robot opened the freezer door, picked up multiple white packaged products, and placed them into the shopping cart while adjusting its posture and rotating its waist."}], "detailed_task_instruction": ["Open the freezer door and adjust the robot posture to bend the waist downward. Pick up the white packaged product from the freezer, then rotate the waist and adjust the posture again to pick up the second white packaged item. Place both white bagged items into the shopping cart, adjusting the robot posture as needed between placements. Finally, adjust the posture one last time and close the freezer door to complete the restocking process."]}
{"task_id": "task_3705", "episode_index": 41, "video_path": "task_3705/videos/chunk-000/{video_key}/episode_000041.mp4", "tasks": ["Restocking the product from the freezer to the cart."], "length": 2342, "action_config": [{"start_frame": 25, "end_frame": 313, "action_text": "open the freezer door", "skill": "Open", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 313, "end_frame": 431, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The freezer door has been opened."}, {"start_frame": 431, "end_frame": 508, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot has opened the freezer door and rotated its waist."}, {"start_frame": 508, "end_frame": 767, "action_text": "pick up the white bagged item from the shopping cart", "skill": "Pick", "language_memory": "The robot has opened the freezer door, rotated its waist, and bent over."}, {"start_frame": 767, "end_frame": 922, "action_text": "hand over the white bagged product", "skill": "Handover", "language_memory": "The robot opened the freezer door, rotated its waist, bent over, and picked up a white bagged item from the shopping cart."}, {"start_frame": 922, "end_frame": 1155, "action_text": "pick up the white bagged item from the shopping cart", "skill": "Pick", "language_memory": "The robot opened the freezer door, rotated its waist, bent over, picked up a white bagged item from the shopping cart, and handed it over."}, {"start_frame": 1155, "end_frame": 1210, "action_text": "as the height increases, the waist tilts upward", "skill": "AdjustPosture", "language_memory": "The robot opened the freezer door, rotated its waist, bent over, and picked up white bagged items from the shopping cart before handing one over."}, {"start_frame": 1210, "end_frame": 1290, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot opened the freezer door, adjusted its posture by rotating the waist and bending over, and successfully picked up and handed over white bagged items from the shopping cart."}, {"start_frame": 1290, "end_frame": 1373, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot opened the freezer door, adjusted its posture by rotating the waist and bending over, and successfully picked up and handed over a white bagged item from the shopping cart."}, {"start_frame": 1373, "end_frame": 1570, "action_text": "place the white bagged product in the freezer", "skill": "Place", "language_memory": "The robot opened the freezer door, adjusted its posture by rotating the waist and bending over, and successfully picked up and handed over white bagged items from the shopping cart."}, {"start_frame": 1570, "end_frame": 1887, "action_text": "place the white bagged product in the designated position inside the freezer", "skill": "Place", "language_memory": "The robot opened the freezer door, adjusted its posture, picked up a white bagged item from the shopping cart, and placed it in the freezer."}, {"start_frame": 1887, "end_frame": 2003, "action_text": "as the height increases, the waist bends downward", "skill": "AdjustPosture", "language_memory": "The robot opened the freezer door, adjusted its posture, and successfully placed the white bagged product into the designated position inside the freezer."}, {"start_frame": 2003, "end_frame": 2341, "action_text": "close the freezer door", "skill": "Close", "language_memory": "The robot opened the freezer door, adjusted its posture, and successfully placed the white bagged product into the designated position inside the freezer."}], "detailed_task_instruction": ["Open the freezer door and adjust your posture by bending over and rotating your waist. Pick up the white bagged item from the shopping cart, then place it into the freezer, ensuring it is positioned in the designated spot inside. As you reach, tilt your waist upward to increase height, then bend downward as the height decreases. Rotate your waist again to adjust your posture before closing the freezer door."]}
{"task_id": "task_3705", "episode_index": 42, "video_path": "task_3705/videos/chunk-000/{video_key}/episode_000042.mp4", "tasks": ["Restocking the product from the freezer to the cart."], "length": 2828, "action_config": [{"start_frame": 32, "end_frame": 409, "action_text": "open the freezer door", "skill": "Open", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 409, "end_frame": 513, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The freezer door has been opened."}, {"start_frame": 513, "end_frame": 631, "action_text": "bend at the waist while lowering the body", "skill": "AdjustPosture", "language_memory": "The robot has opened the freezer door and rotated its waist."}, {"start_frame": 631, "end_frame": 863, "action_text": "pick up the white packaged product from the freezer", "skill": "Pick", "language_memory": "The robot has opened the freezer door, rotated its waist, and bent down to lower its body."}, {"start_frame": 863, "end_frame": 1022, "action_text": "hand over the white bagged product", "skill": "Handover", "language_memory": "The robot opened the freezer door, rotated its waist, bent down, and picked up a white packaged product from the freezer."}, {"start_frame": 1022, "end_frame": 1260, "action_text": "pick up the white packaged product from the freezer", "skill": "Pick", "language_memory": "The robot opened the freezer door, adjusted its posture, and handed over a white packaged product."}, {"start_frame": 1260, "end_frame": 1407, "action_text": "pick up the object", "skill": "Pick", "language_memory": "The robot opened the freezer door, adjusted its posture by rotating the waist and bending down, and successfully retrieved multiple white packaged products from the freezer."}, {"start_frame": 1407, "end_frame": 1644, "action_text": "as height increases, the waist bends downward", "skill": "AdjustPosture", "language_memory": "The robot opened the freezer door, adjusted its posture, and successfully retrieved multiple white packaged products from the freezer."}, {"start_frame": 1644, "end_frame": 1906, "action_text": "place the white bagged product in the freezer", "skill": "Place", "language_memory": "The robot opened the freezer door, adjusted its posture by rotating the waist and bending down, and successfully retrieved multiple white packaged products from the freezer."}, {"start_frame": 1906, "end_frame": 2165, "action_text": "place the white bagged product in the designated position inside the freezer", "skill": "Place", "language_memory": "The robot opened the freezer door, adjusted its posture, and successfully retrieved and returned a white packaged product to the freezer."}, {"start_frame": 2165, "end_frame": 2813, "action_text": "close the freezer door", "skill": "Close", "language_memory": "The robot opened the freezer door, adjusted its posture, and successfully retrieved and returned a white packaged product to the freezer."}], "detailed_task_instruction": ["Open the freezer door and bend at the waist to lower your body. Rotate your waist and pick up the white packaged product from the freezer, then hand it over. Subsequently, pick up another white packaged product from the freezer and place it in the designated position inside the freezer. As your height increases, bend your waist downward to adjust your stance. Finally, close the freezer door to complete the restocking process."]}
{"task_id": "task_3705", "episode_index": 43, "video_path": "task_3705/videos/chunk-000/{video_key}/episode_000043.mp4", "tasks": ["Restocking the product from the freezer to the cart."], "length": 2910, "action_config": [{"start_frame": 85, "end_frame": 500, "action_text": "open the freezer door", "skill": "Open", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 500, "end_frame": 800, "action_text": "bend at the waist while lowering the body", "skill": "AdjustPosture", "language_memory": "The freezer door has been opened."}, {"start_frame": 800, "end_frame": 1087, "action_text": "pick up the white bagged item from the shopping cart", "skill": "Pick", "language_memory": "The robot has opened the freezer door and bent at the waist."}, {"start_frame": 1087, "end_frame": 1249, "action_text": "hand over the white bagged goods", "skill": "Handover", "language_memory": "The robot opened the freezer door, bent at the waist, and picked up a white bagged item from the shopping cart."}, {"start_frame": 1249, "end_frame": 1620, "action_text": "pick up the white bagged item from the shopping cart", "skill": "Pick", "language_memory": "The robot opened the freezer door, bent at the waist, picked up a white bagged item from the shopping cart, and handed it over."}, {"start_frame": 1620, "end_frame": 1769, "action_text": "as the height increases, the waist rises upward", "skill": "AdjustPosture", "language_memory": "The robot opened the freezer door, bent at the waist, and picked up white bagged items from the shopping cart before handing them over."}, {"start_frame": 1769, "end_frame": 1864, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot opened the freezer door, bent down to pick up white bagged items from the shopping cart, and handed them over."}, {"start_frame": 1864, "end_frame": 1981, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot opened the freezer door, adjusted its posture by bending and rising, and transferred white bagged items from the shopping cart."}, {"start_frame": 1981, "end_frame": 2158, "action_text": "place the white bagged product in the freezer", "skill": "Place", "language_memory": "The robot opened the freezer door, adjusted its posture by bending and rotating the waist, and handled white bagged items from the shopping cart."}, {"start_frame": 2158, "end_frame": 2480, "action_text": "place the white bagged goods in the freezer", "skill": "Place", "language_memory": "The robot opened the freezer door, bent down to pick up white bagged items from the shopping cart, handed them over, and placed the products into the freezer."}, {"start_frame": 2480, "end_frame": 2909, "action_text": "close the freezer door", "skill": "Close", "language_memory": "The robot opened the freezer door, picked up white bagged items from the shopping cart, and placed them into the freezer."}], "detailed_task_instruction": ["Open the freezer door and bend at the waist to lower your body. Rotate your waist and bend over to pick up the white bagged item from the shopping cart. As your height increases, rise your waist upward and hand over the white bagged goods. Repeat this process to pick up the next white bagged item from the cart, then place both white bagged products into the freezer. Finally, close the freezer door."]}
{"task_id": "task_3777", "episode_index": 0, "video_path": "task_3777/videos/chunk-000/{video_key}/episode_000000.mp4", "tasks": ["Clean the desktop."], "length": 1802, "action_config": [{"start_frame": 45, "end_frame": 188, "action_text": "pick up the small white receipt from the table", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 188, "end_frame": 298, "action_text": "pick up the yellow plastic bag from the table", "skill": "Pick", "language_memory": "The robot has picked up the small white receipt from the table."}, {"start_frame": 298, "end_frame": 403, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up the small white receipt and the yellow plastic bag from the table."}, {"start_frame": 403, "end_frame": 490, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot has picked up a small white receipt and a yellow plastic bag from the table and rotated its waist."}, {"start_frame": 490, "end_frame": 578, "action_text": "place the white receipt into the trash can", "skill": "Place", "language_memory": "The robot has picked up a small white receipt and a yellow plastic bag from the table, rotated its waist, and adjusted its posture."}, {"start_frame": 578, "end_frame": 718, "action_text": "place the yellow plastic bag into the trash can", "skill": "Place", "language_memory": "The robot picked up a small white receipt and a yellow plastic bag from the table, adjusted its posture, and placed the receipt into the trash can."}, {"start_frame": 718, "end_frame": 897, "action_text": "pick up the waist", "skill": "Pick", "language_memory": "The robot picked up a small white receipt and a yellow plastic bag from the table, adjusted its posture, and placed both items into the trash can."}, {"start_frame": 897, "end_frame": 1001, "action_text": "pick up the sponge on the table", "skill": "Pick", "language_memory": "The robot picked up a small white receipt and a yellow plastic bag from the table, adjusted its posture, and placed both items into the trash can."}, {"start_frame": 1001, "end_frame": 1667, "action_text": "wipe the table with a sponge", "skill": "Wipe", "language_memory": "The robot picked up a small white receipt and a yellow plastic bag from the table, rotated its waist, adjusted its posture, and placed both items into the trash can before picking up the waist and a sponge from the table."}, {"start_frame": 1667, "end_frame": 1755, "action_text": "place the sponge on the table", "skill": "Place", "language_memory": "The robot picked up a small white receipt and a yellow plastic bag from the table, disposed of both in the trash can, and wiped the table with a sponge."}], "detailed_task_instruction": ["Clean the desktop by first picking up the small white receipt and the yellow plastic bag from the table. Rotate your waist and adjust your posture to reach the trash can, then place both the receipt and the bag inside. Next, pick up the waist, retrieve the sponge from the table, and wipe the entire surface clean. Finally, return the sponge to its original position on the table."]}
{"task_id": "task_3777", "episode_index": 1, "video_path": "task_3777/videos/chunk-000/{video_key}/episode_000001.mp4", "tasks": ["Clean the desktop."], "length": 1885, "action_config": [{"start_frame": 30, "end_frame": 151, "action_text": "pick up the white packaging bag from the table", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 151, "end_frame": 249, "action_text": "pick up the yellow plastic bag from the table", "skill": "Pick", "language_memory": "The robot has picked up the white packaging bag from the table."}, {"start_frame": 249, "end_frame": 444, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot has picked up the white packaging bag and the yellow plastic bag from the table."}, {"start_frame": 444, "end_frame": 548, "action_text": "place the white packaging bag into the trash can", "skill": "Place", "language_memory": "The robot has picked up the white packaging bag and the yellow plastic bag from the table and adjusted its posture."}, {"start_frame": 548, "end_frame": 681, "action_text": "place the yellow plastic bag into the trash can", "skill": "Place", "language_memory": "The robot picked up the white packaging bag and yellow plastic bag from the table, adjusted its posture, and placed the white packaging bag into the trash can."}, {"start_frame": 681, "end_frame": 831, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot picked up the white packaging bag and yellow plastic bag from the table, adjusted its posture, and placed both bags into the trash can."}, {"start_frame": 831, "end_frame": 961, "action_text": "pick up the sponge on the table", "skill": "Pick", "language_memory": "The robot has picked up the white packaging bag and yellow plastic bag from the table and placed both into the trash can."}, {"start_frame": 961, "end_frame": 1726, "action_text": "wipe the stains on the desk with the scrub sponge", "skill": "Wipe", "language_memory": "The robot has cleared the table of the white packaging bag, yellow plastic bag, and sponge, and disposed of the bags in the trash can."}, {"start_frame": 1726, "end_frame": 1826, "action_text": "place the sponge on the table", "skill": "Place", "language_memory": "The robot has cleared the table by disposing of a white packaging bag, a yellow plastic bag, and a sponge into the trash can, and wiped stains on the desk with the scrub sponge."}], "detailed_task_instruction": ["Clean the desktop by first picking up the white packaging bag and the yellow plastic bag from the table, adjusting the robot posture, and placing both bags into the trash can. After adjusting the robot posture again, pick up the sponge from the table, wipe the stains on the desk with the scrub sponge, and finally place the sponge back on the table."]}
{"task_id": "task_3777", "episode_index": 2, "video_path": "task_3777/videos/chunk-000/{video_key}/episode_000002.mp4", "tasks": ["Clean the desktop."], "length": 1833, "action_config": [{"start_frame": 45, "end_frame": 176, "action_text": "pick up the yellow plastic bag from the table", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 176, "end_frame": 271, "action_text": "pick up the green beverage bottle", "skill": "Pick", "language_memory": "The robot has picked up the yellow plastic bag from the table."}, {"start_frame": 271, "end_frame": 386, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up the yellow plastic bag and the green beverage bottle from the table."}, {"start_frame": 386, "end_frame": 480, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot has picked up a yellow plastic bag and a green beverage bottle from the table and rotated its waist."}, {"start_frame": 480, "end_frame": 590, "action_text": "place the yellow plastic bag into the trash can", "skill": "Place", "language_memory": "The robot has picked up the yellow plastic bag and the green beverage bottle, rotated its waist, and adjusted its posture."}, {"start_frame": 590, "end_frame": 743, "action_text": "place the green beverage bottle into the trash bin", "skill": "Place", "language_memory": "The robot picked up the yellow plastic bag and green beverage bottle, adjusted its posture, and placed the bag into the trash can."}, {"start_frame": 743, "end_frame": 898, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot has picked up a yellow plastic bag and a green beverage bottle, adjusted its posture, and placed both items into the trash can."}, {"start_frame": 898, "end_frame": 1004, "action_text": "pick up the sponge on the table", "skill": "Pick", "language_memory": "The robot has picked up a yellow plastic bag and a green beverage bottle, adjusted its posture, and placed both items into the trash can."}, {"start_frame": 1004, "end_frame": 1725, "action_text": "wipe the stains on the desk with the scrub sponge", "skill": "Wipe", "language_memory": "The robot has cleared the table of a yellow plastic bag, a green beverage bottle, and a sponge, and has adjusted its posture accordingly."}, {"start_frame": 1725, "end_frame": 1813, "action_text": "place the sponge on the table", "skill": "Place", "language_memory": "The robot has cleared the table by disposing of a yellow plastic bag and a green beverage bottle into the trash can and wiped stains on the desk using a sponge."}], "detailed_task_instruction": ["Clean the desktop by first picking up the yellow plastic bag and the green beverage bottle from the table. After rotating your waist and adjusting your posture, place both the yellow plastic bag and the green beverage bottle into the trash can. Next, adjust your posture again, pick up the sponge from the table, and wipe the stains on the desk using the scrub sponge. Finally, place the sponge back on the table to complete the cleaning process."]}
{"task_id": "task_3777", "episode_index": 3, "video_path": "task_3777/videos/chunk-000/{video_key}/episode_000003.mp4", "tasks": ["Clean the desktop."], "length": 1795, "action_config": [{"start_frame": 50, "end_frame": 201, "action_text": "pick up the white packaging bag", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 201, "end_frame": 320, "action_text": "pick up the green beverage bottle", "skill": "Pick", "language_memory": "The robot has picked up the white packaging bag."}, {"start_frame": 320, "end_frame": 525, "action_text": "as the height decreases, the waist bends downward", "skill": "AdjustPosture", "language_memory": "The robot has picked up the white packaging bag and the green beverage bottle."}, {"start_frame": 525, "end_frame": 630, "action_text": "place the white packaging bag into the trash can", "skill": "Place", "language_memory": "The robot has picked up the white packaging bag and the green beverage bottle, and adjusted its waist posture downward as height decreased."}, {"start_frame": 630, "end_frame": 783, "action_text": "place the green beverage bottle into the trash can", "skill": "Place", "language_memory": "The robot picked up the white packaging bag and the green beverage bottle, adjusted its waist posture, and placed the white packaging bag into the trash can."}, {"start_frame": 783, "end_frame": 936, "action_text": "pick up the waist", "skill": "Pick", "language_memory": "The robot picked up a white packaging bag and a green beverage bottle, adjusted its waist posture, and discarded both items into the trash can."}, {"start_frame": 936, "end_frame": 985, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot picked up a white packaging bag and a green beverage bottle, discarded both into the trash can, and returned to an upright position."}, {"start_frame": 985, "end_frame": 1105, "action_text": "pick up the sponge on the table", "skill": "Pick", "language_memory": "The robot has discarded the white packaging bag and the green beverage bottle into the trash can."}, {"start_frame": 1105, "end_frame": 1731, "action_text": "wipe the stains off the table with a sponge", "skill": "Wipe", "language_memory": "The robot has discarded the white packaging bag and green beverage bottle into the trash can and is currently picking up a sponge from the table."}, {"start_frame": 1731, "end_frame": 1794, "action_text": "place the sponge on the table", "skill": "Place", "language_memory": "The robot discarded the white packaging bag and green beverage bottle into the trash can and wiped table stains using a sponge."}], "detailed_task_instruction": ["Bend your waist downward to pick up the white packaging bag and the green beverage bottle, then place both items into the trash can. Straighten your waist and bend over again to pick up the sponge from the table. Use the sponge to wipe the stains off the table surface, and finally place the sponge back on the table."]}
{"task_id": "task_3777", "episode_index": 4, "video_path": "task_3777/videos/chunk-000/{video_key}/episode_000004.mp4", "tasks": ["Clean the desktop."], "length": 1937, "action_config": [{"start_frame": 45, "end_frame": 154, "action_text": "pick up the yellow plastic bag from the table", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 154, "end_frame": 304, "action_text": "pick up the green packaging bag from the table", "skill": "Pick", "language_memory": "The robot has picked up the yellow plastic bag from the table."}, {"start_frame": 304, "end_frame": 499, "action_text": "as the height decreases, the waist bends downward", "skill": "AdjustPosture", "language_memory": "The robot has picked up the yellow plastic bag and the green packaging bag from the table."}, {"start_frame": 499, "end_frame": 600, "action_text": "place the yellow plastic bag into the trash can", "skill": "Place", "language_memory": "The robot has picked up the yellow plastic bag and the green packaging bag from the table and adjusted its waist posture downward as height decreased."}, {"start_frame": 600, "end_frame": 753, "action_text": "place the green packaging bag into the trash can", "skill": "Place", "language_memory": "The robot picked up the yellow plastic bag and green packaging bag from the table, adjusted its waist posture, and placed the yellow plastic bag into the trash can."}, {"start_frame": 753, "end_frame": 888, "action_text": "the input action text describes a body movement (\"lift your waist while rotating it\") rather than a manipulation task involving an object to be picked up or placed. therefore, it cannot be rewritten into the specified \"pick up the x\" or \"place the x...\" format without inventing objects or actions, which violates the rules. no valid output sentence can be generated", "skill": "Pick", "language_memory": "The robot picked up the yellow plastic bag and green packaging bag from the table and placed both into the trash can."}, {"start_frame": 888, "end_frame": 1004, "action_text": "pick up the sponge on the table", "skill": "Pick", "language_memory": "The robot picked up the yellow plastic bag and the green packaging bag from the table and placed both into the trash can."}, {"start_frame": 1004, "end_frame": 1869, "action_text": "wipe the stains off the table with a sponge", "skill": "Wipe", "language_memory": "The robot picked up the yellow plastic bag, green packaging bag, and sponge from the table and placed the bags into the trash can."}, {"start_frame": 1869, "end_frame": 1936, "action_text": "place the sponge on the table", "skill": "Place", "language_memory": "The robot picked up a yellow plastic bag and a green packaging bag from the table and placed them into the trash can, then picked up a sponge and wiped stains off the table."}], "detailed_task_instruction": ["Clean the desktop by first picking up the yellow plastic bag and the green packaging bag from the table, then placing both items into the trash can. Next, pick up the sponge from the table and wipe the stains off the surface. Finally, place the sponge back on the table."]}
{"task_id": "task_3777", "episode_index": 5, "video_path": "task_3777/videos/chunk-000/{video_key}/episode_000005.mp4", "tasks": ["Clean the desktop."], "length": 1973, "action_config": [{"start_frame": 35, "end_frame": 156, "action_text": "pick up the crumpled paper from the table", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 156, "end_frame": 291, "action_text": "pick up the small white receipt from the table", "skill": "Pick", "language_memory": "The crumpled paper has been picked up from the table."}, {"start_frame": 291, "end_frame": 490, "action_text": "as the height decreases, the waist bends downward", "skill": "AdjustPosture", "language_memory": "The robot has picked up the crumpled paper and the small white receipt from the table."}, {"start_frame": 490, "end_frame": 600, "action_text": "place the paper ball into the trash can", "skill": "Place", "language_memory": "The robot has picked up the crumpled paper and the small white receipt from the table."}, {"start_frame": 600, "end_frame": 775, "action_text": "place the white receipt into the trash can", "skill": "Place", "language_memory": "The robot has cleared the table by picking up a crumpled paper and a small white receipt, then placed the paper ball into the trash can."}, {"start_frame": 775, "end_frame": 914, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot has cleared the desktop by picking up a crumpled paper and a small white receipt, then disposing of both items into the trash can."}, {"start_frame": 914, "end_frame": 1036, "action_text": "pick up the sponge on the table", "skill": "Pick", "language_memory": "The robot has cleared the desktop by picking up and discarding a crumpled paper and a small white receipt into the trash can, followed by a posture adjustment."}, {"start_frame": 1036, "end_frame": 1910, "action_text": "wipe the stains on the desk with the scrub sponge", "skill": "Wipe", "language_memory": "The robot has cleared the table by picking up and discarding a crumpled paper and a small white receipt into the trash can, adjusted its posture, and is currently holding a sponge."}, {"start_frame": 1910, "end_frame": 1972, "action_text": "place the sponge on the table", "skill": "Place", "language_memory": "The robot cleared the table by picking up and discarding a crumpled paper and a small white receipt into the trash can, then wiped remaining stains on the desk using a sponge."}], "detailed_task_instruction": ["Clean the desktop by first picking up the crumpled paper and the small white receipt from the table. As the height decreases, bend the waist downward to place both the paper ball and the white receipt into the trash can. Adjust the robot posture, then pick up the sponge from the table. Wipe the stains on the desk using the scrub sponge, and finally place the sponge back on the table."]}
{"task_id": "task_3777", "episode_index": 6, "video_path": "task_3777/videos/chunk-000/{video_key}/episode_000006.mp4", "tasks": ["Clean the desktop."], "length": 2161, "action_config": [{"start_frame": 45, "end_frame": 145, "action_text": "pick up the green bottle on the table", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 145, "end_frame": 263, "action_text": "pick up the white packaging bag from the table", "skill": "Pick", "language_memory": "The robot has picked up the green bottle from the table."}, {"start_frame": 263, "end_frame": 476, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot has picked up the green bottle and the white packaging bag from the table."}, {"start_frame": 476, "end_frame": 595, "action_text": "place the green bottle into the trash can", "skill": "Place", "language_memory": "The robot has picked up the green bottle and the white packaging bag from the table and adjusted its posture."}, {"start_frame": 595, "end_frame": 759, "action_text": "place the white packaging bag into the trash can", "skill": "Place", "language_memory": "The robot picked up the green bottle and white packaging bag from the table, adjusted its posture, and placed the green bottle into the trash can."}, {"start_frame": 759, "end_frame": 928, "action_text": "the input action text describes a body movement (\"lift your waist while rotating it\") rather than a manipulation task involving an object to be picked up or placed. therefore, it cannot be rewritten into the specified \"pick up the x\" or \"place the x...\" format without inventing objects or actions, which violates the rules. no valid output sentence can be generated", "skill": "Pick", "language_memory": "The robot has picked up the green bottle and white packaging bag from the table, adjusted its posture, and discarded both items into the trash can."}, {"start_frame": 928, "end_frame": 1060, "action_text": "pick up the sponge on the table", "skill": "Pick", "language_memory": "The robot has picked up the green bottle and white packaging bag from the table and placed both items into the trash can."}, {"start_frame": 1060, "end_frame": 1796, "action_text": "wipe the stains on the desk with the scrub sponge", "skill": "Wipe", "language_memory": "The robot has cleared the table by picking up and discarding the green bottle, white packaging bag, and sponge into the trash can."}, {"start_frame": 1796, "end_frame": 1875, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot has cleared the table by picking up and discarding a green bottle and a white packaging bag, and wiped the desk stains using a sponge."}, {"start_frame": 1875, "end_frame": 2001, "action_text": "wipe the table with a sponge", "skill": "Wipe", "language_memory": "The robot has cleared the table by picking up and discarding a green bottle and a white packaging bag, and wiped the desk stains using a sponge."}, {"start_frame": 2001, "end_frame": 2082, "action_text": "decrease height", "skill": "AdjustPosture", "language_memory": "The robot has cleared the table by discarding a green bottle and a white packaging bag into the trash can and wiped the desk surface using a sponge."}, {"start_frame": 2082, "end_frame": 2148, "action_text": "place the sponge on the table", "skill": "Place", "language_memory": "The robot has cleared the table by disposing of a green bottle and a white packaging bag, then cleaned the surface by wiping stains and general dirt with a sponge."}], "detailed_task_instruction": ["Clean the desktop by first picking up the green bottle and the white packaging bag from the table, then placing both items into the trash can. Next, pick up the sponge from the table and wipe the stains on the desk with it. After cleaning, place the sponge back on the table. Note that intermediate body movements such as adjusting posture, lifting the waist, rotating, bending over, or decreasing height are required to perform these actions but are not included in the final task description."]}
{"task_id": "task_3777", "episode_index": 7, "video_path": "task_3777/videos/chunk-000/{video_key}/episode_000007.mp4", "tasks": ["Clean the desktop."], "length": 1837, "action_config": [{"start_frame": 35, "end_frame": 142, "action_text": "pick up the green beverage bottle", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 142, "end_frame": 252, "action_text": "pick up the small white receipt from the table", "skill": "Pick", "language_memory": "The robot has picked up the green beverage bottle."}, {"start_frame": 252, "end_frame": 445, "action_text": "as the height decreases, the waist bends downward", "skill": "AdjustPosture", "language_memory": "The robot has picked up the green beverage bottle and the small white receipt from the table."}, {"start_frame": 445, "end_frame": 545, "action_text": "place the green beverage bottle into the trash bin", "skill": "Place", "language_memory": "The robot has picked up the green beverage bottle and the small white receipt, and adjusted its waist posture by bending downward as height decreased."}, {"start_frame": 545, "end_frame": 733, "action_text": "place the white receipt into the trash can", "skill": "Place", "language_memory": "The robot picked up the green beverage bottle and a small white receipt, adjusted its waist posture, and placed the bottle into the trash bin."}, {"start_frame": 733, "end_frame": 861, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot picked up a green beverage bottle and a small white receipt, then discarded both into the trash bin."}, {"start_frame": 861, "end_frame": 919, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot has picked up a green beverage bottle and a small white receipt, discarded both into the trash bin, and adjusted its posture."}, {"start_frame": 919, "end_frame": 1010, "action_text": "pick up the sponge on the table", "skill": "Pick", "language_memory": "The robot has picked up a green beverage bottle and a small white receipt, disposed of both items in the trash bin, and adjusted its posture."}, {"start_frame": 1010, "end_frame": 1760, "action_text": "wipe the stains off the table with a sponge", "skill": "Wipe", "language_memory": "The robot has cleared the desktop by picking up and discarding a green beverage bottle and a white receipt into the trash bin, while adjusting its posture and picking up a sponge."}, {"start_frame": 1760, "end_frame": 1836, "action_text": "place the sponge on the table", "skill": "Place", "language_memory": "The robot has cleared the table by discarding a green beverage bottle and a white receipt into the trash bin, and wiped the table surface using a sponge."}], "detailed_task_instruction": ["Clean the desktop by first bending your waist downward to pick up the green beverage bottle and the small white receipt from the table, then placing both items into the trash bin. After adjusting your posture, bend over again to pick up the sponge from the table. Use the sponge to wipe the stains off the table surface, and finally place the sponge back on the table once the cleaning is complete."]}
{"task_id": "task_3777", "episode_index": 8, "video_path": "task_3777/videos/chunk-000/{video_key}/episode_000008.mp4", "tasks": ["Clean the desktop."], "length": 2438, "action_config": [{"start_frame": 45, "end_frame": 158, "action_text": "pick up the green bottle on the table", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 158, "end_frame": 316, "action_text": "pick up the white packaging bag from the table", "skill": "Pick", "language_memory": "The robot has picked up the green bottle from the table."}, {"start_frame": 316, "end_frame": 421, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up the green bottle and the white packaging bag from the table."}, {"start_frame": 421, "end_frame": 511, "action_text": "as the height decreases, the waist bends downward", "skill": "AdjustPosture", "language_memory": "The robot has picked up the green bottle and the white packaging bag from the table and rotated its waist."}, {"start_frame": 511, "end_frame": 617, "action_text": "place the green bottle into the trash can", "skill": "Place", "language_memory": "The robot has picked up the green bottle and the white packaging bag from the table and adjusted its waist orientation and posture."}, {"start_frame": 617, "end_frame": 773, "action_text": "place the white packaging bag into the trash can", "skill": "Place", "language_memory": "The robot picked up the green bottle and white packaging bag from the table, adjusted its posture by rotating the waist and bending downward, and placed the green bottle into the trash can."}, {"start_frame": 773, "end_frame": 928, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot has picked up the green bottle and white packaging bag from the table and successfully placed both items into the trash can."}, {"start_frame": 928, "end_frame": 1058, "action_text": "pick up the sponge on the table", "skill": "Pick", "language_memory": "The robot has picked up a green bottle and a white packaging bag from the table, discarded both into the trash can, and adjusted its posture."}, {"start_frame": 1058, "end_frame": 2259, "action_text": "wipe the stains on the desk with the scrub sponge", "skill": "Wipe", "language_memory": "The robot has cleared the table by picking up and discarding a green bottle and a white packaging bag into the trash can, and has subsequently picked up a sponge."}, {"start_frame": 2259, "end_frame": 2384, "action_text": "place the sponge on the table", "skill": "Place", "language_memory": "The robot has cleared the table by disposing of a green bottle and a white packaging bag into the trash can and wiped the desk surface with a sponge."}], "detailed_task_instruction": ["Clean the desktop by first picking up the green bottle and the white packaging bag from the table. Rotate your waist and bend downward as your height decreases to place both the green bottle and the white packaging bag into the trash can. Adjust your robot posture, then pick up the sponge from the table. Use the scrub sponge to wipe the stains on the desk, and finally, place the sponge back on the table."]}
{"task_id": "task_3777", "episode_index": 9, "video_path": "task_3777/videos/chunk-000/{video_key}/episode_000009.mp4", "tasks": ["Clean the desktop."], "length": 1694, "action_config": [{"start_frame": 30, "end_frame": 136, "action_text": "pick up the white wrapping paper from the table", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 136, "end_frame": 231, "action_text": "pick up the green beverage bottle", "skill": "Pick", "language_memory": "The robot has picked up the white wrapping paper from the table."}, {"start_frame": 231, "end_frame": 409, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot has picked up the white wrapping paper and the green beverage bottle from the table."}, {"start_frame": 409, "end_frame": 501, "action_text": "place the white wrapping paper into the trash can", "skill": "Place", "language_memory": "The robot has picked up the white wrapping paper and the green beverage bottle and adjusted its posture."}, {"start_frame": 501, "end_frame": 661, "action_text": "place the green beverage bottle into the trash bin", "skill": "Place", "language_memory": "The robot picked up the white wrapping paper and green beverage bottle, adjusted its posture, and placed the wrapping paper into the trash can."}, {"start_frame": 661, "end_frame": 794, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot has picked up the white wrapping paper and green beverage bottle, adjusted its posture, and discarded both items into the trash can."}, {"start_frame": 794, "end_frame": 847, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot has cleared the table by disposing of the white wrapping paper and the green beverage bottle into the trash can."}, {"start_frame": 847, "end_frame": 953, "action_text": "pick up the sponge on the table", "skill": "Pick", "language_memory": "The robot has cleared the table by picking up and discarding the white wrapping paper and green beverage bottle into the trash can, and is currently in a bent-over posture."}, {"start_frame": 953, "end_frame": 1632, "action_text": "wipe the stains on the desk with the scrub sponge", "skill": "Wipe", "language_memory": "The robot has cleared the table by picking up and discarding the white wrapping paper and green beverage bottle, and has picked up the sponge."}, {"start_frame": 1632, "end_frame": 1693, "action_text": "place the sponge on the table", "skill": "Place", "language_memory": "The robot has cleared the table by discarding the white wrapping paper and green beverage bottle into the trash, and wiped stains on the desk using a sponge."}], "detailed_task_instruction": ["Clean the desktop by first picking up the white wrapping paper and the green beverage bottle from the table, then adjusting the robot posture to place both items into the trash can. After adjusting the posture again, bend over to pick up the sponge from the table. Use the scrub sponge to wipe the stains on the desk, and finally place the sponge back on the table."]}
{"task_id": "task_3777", "episode_index": 10, "video_path": "task_3777/videos/chunk-000/{video_key}/episode_000010.mp4", "tasks": ["Clean the desktop."], "length": 1610, "action_config": [{"start_frame": 45, "end_frame": 140, "action_text": "pick up the small white receipt from the table", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 140, "end_frame": 256, "action_text": "pick up the yellow plastic bag from the table", "skill": "Pick", "language_memory": "The robot has picked up the small white receipt from the table."}, {"start_frame": 256, "end_frame": 442, "action_text": "as the height decreases, the waist bends downward", "skill": "AdjustPosture", "language_memory": "The robot has picked up the small white receipt and the yellow plastic bag from the table."}, {"start_frame": 442, "end_frame": 560, "action_text": "place the white receipt into the trash can", "skill": "Place", "language_memory": "The robot has picked up a small white receipt and a yellow plastic bag from the table and adjusted its waist posture downward as height decreased."}, {"start_frame": 560, "end_frame": 710, "action_text": "place the yellow plastic bag into the trash bin", "skill": "Place", "language_memory": "The robot picked up a small white receipt and a yellow plastic bag from the table, adjusted its waist height, and placed the receipt into the trash can."}, {"start_frame": 710, "end_frame": 836, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot picked up a small white receipt and a yellow plastic bag from the table, adjusted its waist height, and discarded both items into the trash can."}, {"start_frame": 836, "end_frame": 897, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot picked up a small white receipt and a yellow plastic bag from the table, discarded both into the trash can, and adjusted its posture."}, {"start_frame": 897, "end_frame": 986, "action_text": "pick up the sponge on the table", "skill": "Pick", "language_memory": "The robot picked up a small white receipt and a yellow plastic bag from the table and placed both items into the trash can."}, {"start_frame": 986, "end_frame": 1505, "action_text": "wipe the stains off the table with a sponge", "skill": "Wipe", "language_memory": "The robot cleared the table by picking up and discarding a small white receipt and a yellow plastic bag into the trash can, while adjusting its posture and bending down to pick up a sponge."}, {"start_frame": 1505, "end_frame": 1579, "action_text": "place the sponge on the table", "skill": "Place", "language_memory": "The robot cleared the table by picking up and discarding a small white receipt and a yellow plastic bag, then wiped remaining stains using a sponge."}], "detailed_task_instruction": ["Clean the desktop by first picking up the small white receipt and the yellow plastic bag from the table. As you reach, bend your waist downward to adjust your posture, then place both the receipt and the bag into the trash can. Next, bend over to pick up the sponge from the table. Use the sponge to wipe the stains off the table surface. Finally, place the sponge back on the table and adjust your robot posture to complete the cleaning task."]}
{"task_id": "task_3777", "episode_index": 11, "video_path": "task_3777/videos/chunk-000/{video_key}/episode_000011.mp4", "tasks": ["Clean the desktop."], "length": 2024, "action_config": [{"start_frame": 55, "end_frame": 153, "action_text": "pick up the green beverage bottle", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 153, "end_frame": 284, "action_text": "pick up the blue packaging bag from the table", "skill": "Pick", "language_memory": "The robot has picked up the green beverage bottle."}, {"start_frame": 284, "end_frame": 485, "action_text": "as the height decreases, the waist bends downward", "skill": "AdjustPosture", "language_memory": "The robot has picked up the green beverage bottle and the blue packaging bag from the table."}, {"start_frame": 485, "end_frame": 615, "action_text": "place the green beverage bottle into the trash bin", "skill": "Place", "language_memory": "The robot has picked up the green beverage bottle and the blue packaging bag from the table."}, {"start_frame": 615, "end_frame": 797, "action_text": "place the blue packaging bag into the trash can", "skill": "Place", "language_memory": "The robot picked up the green beverage bottle and the blue packaging bag, adjusted its waist posture, and placed the green beverage bottle into the trash bin."}, {"start_frame": 797, "end_frame": 932, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot picked up a green beverage bottle and a blue packaging bag, then placed both items into the trash bin."}, {"start_frame": 932, "end_frame": 987, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot has picked up a green beverage bottle and a blue packaging bag, discarded both into the trash bin, and adjusted its posture."}, {"start_frame": 987, "end_frame": 1095, "action_text": "pick up the sponge on the table", "skill": "Pick", "language_memory": "The robot has picked up a green beverage bottle and a blue packaging bag, disposed of both items in the trash bin, and adjusted its posture."}, {"start_frame": 1095, "end_frame": 1939, "action_text": "wipe the stains on the desk with the scrub sponge", "skill": "Wipe", "language_memory": "The robot has cleared the green beverage bottle and blue packaging bag from the table and disposed of them in the trash bin, while adjusting its posture and picking up a sponge."}, {"start_frame": 1939, "end_frame": 2007, "action_text": "place the sponge on the table", "skill": "Place", "language_memory": "The robot has cleared the desktop by discarding a green beverage bottle and a blue packaging bag into the trash bin, and wiped stains on the desk using a sponge."}], "detailed_task_instruction": ["Clean the desktop by first picking up the green beverage bottle and the blue packaging bag from the table. As you reach, bend your waist downward to place both items into the trash bin. Adjust your posture and bend over again to pick up the sponge from the table. Use the sponge to wipe the stains on the desk, then place the sponge back on the table once the cleaning is complete."]}
{"task_id": "task_3777", "episode_index": 12, "video_path": "task_3777/videos/chunk-000/{video_key}/episode_000012.mp4", "tasks": ["Clean the desktop."], "length": 1912, "action_config": [{"start_frame": 30, "end_frame": 131, "action_text": "pick up the small white receipt from the table", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 131, "end_frame": 242, "action_text": "pick up the yellow plastic bag from the table", "skill": "Pick", "language_memory": "The robot has picked up the small white receipt from the table."}, {"start_frame": 242, "end_frame": 433, "action_text": "as the height decreases, the waist bends downward", "skill": "AdjustPosture", "language_memory": "The robot has picked up the small white receipt and the yellow plastic bag from the table."}, {"start_frame": 433, "end_frame": 530, "action_text": "place the white receipt into the trash can", "skill": "Place", "language_memory": "The robot has picked up a small white receipt and a yellow plastic bag from the table and adjusted its waist posture downward as height decreased."}, {"start_frame": 530, "end_frame": 687, "action_text": "place the yellow plastic bag into the trash bin", "skill": "Place", "language_memory": "The robot picked up a small white receipt and a yellow plastic bag from the table, adjusted its waist height, and placed the receipt into the trash can."}, {"start_frame": 687, "end_frame": 816, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot picked up a small white receipt and a yellow plastic bag from the table, adjusted its waist height, and discarded both items into the trash can."}, {"start_frame": 816, "end_frame": 884, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot picked up a small white receipt and a yellow plastic bag from the table, discarded both into the trash can, and adjusted its posture."}, {"start_frame": 884, "end_frame": 1001, "action_text": "pick up the sponge on the table", "skill": "Pick", "language_memory": "The robot picked up a small white receipt and a yellow plastic bag from the table and placed both items into the trash can."}, {"start_frame": 1001, "end_frame": 1830, "action_text": "wipe the stains on the desk with the scrub sponge", "skill": "Wipe", "language_memory": "The robot cleared the table by picking up and discarding a small white receipt and a yellow plastic bag into the trash can, while adjusting its posture and bending down to pick up a sponge."}, {"start_frame": 1830, "end_frame": 1904, "action_text": "place the sponge on the table", "skill": "Place", "language_memory": "The robot cleared the table by picking up and discarding a small white receipt and a yellow plastic bag, then wiped stains on the desk using a sponge."}], "detailed_task_instruction": ["Clean the desktop by first picking up the small white receipt and the yellow plastic bag from the table. As you reach, bend your waist downward to adjust your posture, then place both the receipt and the bag into the trash can. Next, bend over to pick up the sponge from the table. Use the scrub sponge to wipe the stains on the desk, and finally, place the sponge back on the table."]}
{"task_id": "task_3777", "episode_index": 13, "video_path": "task_3777/videos/chunk-000/{video_key}/episode_000013.mp4", "tasks": ["Clean the desktop."], "length": 1948, "action_config": [{"start_frame": 30, "end_frame": 144, "action_text": "pick up the green bottle on the table", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 144, "end_frame": 265, "action_text": "pick up the empty chewing gum bottle on the table", "skill": "Pick", "language_memory": "The robot has picked up the green bottle from the table."}, {"start_frame": 265, "end_frame": 484, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot has picked up the green bottle and the empty chewing gum bottle from the table."}, {"start_frame": 484, "end_frame": 605, "action_text": "place the green bottle into the trash can", "skill": "Place", "language_memory": "The robot has picked up the green bottle and the empty chewing gum bottle from the table and adjusted its posture."}, {"start_frame": 605, "end_frame": 768, "action_text": "place the paper ball into the trash can", "skill": "Place", "language_memory": "The robot picked up the green bottle and the empty chewing gum bottle from the table, adjusted its posture, and placed the green bottle into the trash can."}, {"start_frame": 768, "end_frame": 944, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot has picked up the green bottle and the empty chewing gum bottle, adjusted its posture, and placed both items into the trash can."}, {"start_frame": 944, "end_frame": 1034, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot has picked up and discarded the green bottle, empty chewing gum bottle, and paper ball into the trash can, with posture adjustments performed in between."}, {"start_frame": 1034, "end_frame": 1151, "action_text": "pick up the sponge on the table", "skill": "Pick", "language_memory": "The robot has picked up and discarded a green bottle, an empty chewing gum bottle, and a paper ball into the trash can, while adjusting its posture and bending over."}, {"start_frame": 1151, "end_frame": 1877, "action_text": "wipe the stains on the desk with the scrub sponge", "skill": "Wipe", "language_memory": "The robot has picked up and discarded a green bottle, an empty chewing gum bottle, and a paper ball into the trash can, and is currently holding a sponge after adjusting its posture."}, {"start_frame": 1877, "end_frame": 1947, "action_text": "place the sponge on the table", "skill": "Place", "language_memory": "The robot has cleared the table by picking up and discarding the green bottle, empty chewing gum bottle, and paper ball into the trash can, and wiped stains on the desk using a sponge."}], "detailed_task_instruction": ["Clean the desktop by first picking up the green bottle and the empty chewing gum bottle from the table, then placing both items into the trash can. After adjusting the robot posture and bending over, pick up the sponge from the table and use it to wipe the stains on the desk. Finally, place the sponge back on the table to complete the cleaning process."]}
{"task_id": "task_3777", "episode_index": 14, "video_path": "task_3777/videos/chunk-000/{video_key}/episode_000014.mp4", "tasks": ["Clean the desktop."], "length": 2284, "action_config": [{"start_frame": 35, "end_frame": 140, "action_text": "pick up the green beverage bottle from the table", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 140, "end_frame": 332, "action_text": "pick up the white wrapping paper from the table", "skill": "Pick", "language_memory": "The green beverage bottle has been picked up from the table."}, {"start_frame": 332, "end_frame": 540, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot has picked up the green beverage bottle and the white wrapping paper from the table."}, {"start_frame": 540, "end_frame": 640, "action_text": "place the green beverage bottle into the trash bin", "skill": "Place", "language_memory": "The robot has picked up the green beverage bottle and white wrapping paper from the table and adjusted its posture."}, {"start_frame": 640, "end_frame": 818, "action_text": "place the white wrapping paper into the trash can", "skill": "Place", "language_memory": "The robot picked up the green beverage bottle and white wrapping paper from the table, adjusted its posture, and placed the bottle into the trash bin."}, {"start_frame": 818, "end_frame": 976, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot has picked up a green beverage bottle and white wrapping paper from the table, adjusted its posture, and disposed of both items in the trash bin."}, {"start_frame": 976, "end_frame": 1102, "action_text": "pick up the sponge on the table", "skill": "Pick", "language_memory": "The robot has cleared the table by picking up and disposing of a green beverage bottle and white wrapping paper into the trash bin."}, {"start_frame": 1102, "end_frame": 1959, "action_text": "wipe the stains on the desk with the scrub sponge", "skill": "Wipe", "language_memory": "The robot has cleared the table of a green beverage bottle, white wrapping paper, and a sponge, and adjusted its posture twice during the process."}, {"start_frame": 1959, "end_frame": 2031, "action_text": "increase height", "skill": "AdjustPosture", "language_memory": "The robot has cleared the table by discarding the green beverage bottle and white wrapping paper into the trash bin and wiped the desk stains using a sponge."}, {"start_frame": 2031, "end_frame": 2179, "action_text": "wipe the stains off the table with a sponge", "skill": "Wipe", "language_memory": "The robot has cleared the table by disposing of a green beverage bottle and white wrapping paper, then wiped stains on the desk using a sponge."}, {"start_frame": 2179, "end_frame": 2232, "action_text": "decrease height", "skill": "AdjustPosture", "language_memory": "The robot has cleared the table by disposing of a green beverage bottle and white wrapping paper, then wiped stains using a sponge."}, {"start_frame": 2232, "end_frame": 2283, "action_text": "place the sponge on the table", "skill": "Place", "language_memory": "The robot has cleared the table by disposing of a green beverage bottle and white wrapping paper, then cleaned remaining stains using a sponge."}], "detailed_task_instruction": ["Clean the desktop by first picking up the green beverage bottle and the white wrapping paper from the table, then disposing of both items into the trash bin. After adjusting your posture, pick up the sponge from the table and wipe the stains on the desk. Increase your height to reach the upper surface, wipe the remaining stains off the table, and finally decrease your height before placing the sponge back on the table."]}
{"task_id": "task_3777", "episode_index": 15, "video_path": "task_3777/videos/chunk-000/{video_key}/episode_000015.mp4", "tasks": ["Clean the desktop."], "length": 2108, "action_config": [{"start_frame": 35, "end_frame": 147, "action_text": "pick up the yellow plastic bag from the table", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 147, "end_frame": 280, "action_text": "pick up the paper ball from the table", "skill": "Pick", "language_memory": "The robot has picked up the yellow plastic bag from the table."}, {"start_frame": 280, "end_frame": 470, "action_text": "as the height decreases, the waist bends downward", "skill": "AdjustPosture", "language_memory": "The robot has picked up the yellow plastic bag and the paper ball from the table."}, {"start_frame": 470, "end_frame": 585, "action_text": "place the yellow plastic bag into the trash bin", "skill": "Place", "language_memory": "The robot has picked up the yellow plastic bag and the paper ball from the table and adjusted its waist posture downward as height decreased."}, {"start_frame": 585, "end_frame": 765, "action_text": "place the paper ball into the trash can", "skill": "Place", "language_memory": "The robot picked up the yellow plastic bag and the paper ball from the table and placed the bag into the trash bin."}, {"start_frame": 765, "end_frame": 902, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot picked up a yellow plastic bag and a paper ball from the table and placed both items into the trash bin."}, {"start_frame": 902, "end_frame": 956, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot has cleared the table by picking up and disposing of a yellow plastic bag and a paper ball into the trash bin, followed by a posture adjustment."}, {"start_frame": 956, "end_frame": 1051, "action_text": "pick up the sponge on the table", "skill": "Pick", "language_memory": "The robot has cleared the table by picking up and disposing of a yellow plastic bag and a paper ball into the trash bin, followed by posture adjustments."}, {"start_frame": 1051, "end_frame": 2021, "action_text": "wipe the table with a sponge", "skill": "Wipe", "language_memory": "The robot has cleared the table by picking up and disposing of a yellow plastic bag, a paper ball, and a sponge into the trash bin, while adjusting its posture throughout the process."}, {"start_frame": 2021, "end_frame": 2107, "action_text": "place the sponge on the table", "skill": "Place", "language_memory": "The robot has cleared the table by picking up and discarding a yellow plastic bag and a paper ball into the trash bin, and subsequently wiped the table surface with a sponge."}], "detailed_task_instruction": ["Clean the desktop by first picking up the yellow plastic bag and the paper ball from the table. As you reach for these items, bend your waist downward to adjust your posture, then place both the yellow plastic bag and the paper ball into the trash bin. After disposing of the waste, bend over again to pick up the sponge from the table. Proceed to wipe the table surface with the sponge to clean it, and finally, place the sponge back on the table once the cleaning is complete."]}
{"task_id": "task_3777", "episode_index": 16, "video_path": "task_3777/videos/chunk-000/{video_key}/episode_000016.mp4", "tasks": ["Clean the desktop."], "length": 2086, "action_config": [{"start_frame": 50, "end_frame": 161, "action_text": "pick up the green beverage bottle", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 161, "end_frame": 265, "action_text": "pick up the white paper box", "skill": "Pick", "language_memory": "The robot has picked up the green beverage bottle."}, {"start_frame": 265, "end_frame": 467, "action_text": "as the height decreases, the waist bends downward", "skill": "AdjustPosture", "language_memory": "The robot has picked up the green beverage bottle and the white paper box."}, {"start_frame": 467, "end_frame": 600, "action_text": "place the green beverage bottle into the trash bin", "skill": "Place", "language_memory": "The robot has picked up the green beverage bottle and the white paper box, and adjusted its waist posture downward as height decreased."}, {"start_frame": 600, "end_frame": 789, "action_text": "place the white cardboard into the trash can", "skill": "Place", "language_memory": "The robot picked up the green beverage bottle and the white paper box, adjusted its waist posture, and placed the green beverage bottle into the trash bin."}, {"start_frame": 789, "end_frame": 941, "action_text": "pick up the waist", "skill": "Pick", "language_memory": "The robot has picked up a green beverage bottle and a white paper box, adjusted its waist posture, and discarded both items into the trash bin."}, {"start_frame": 941, "end_frame": 991, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot has picked up a green beverage bottle and a white paper box, discarded both into the trash bin, and returned to an upright waist position."}, {"start_frame": 991, "end_frame": 1081, "action_text": "pick up the sponge on the table", "skill": "Pick", "language_memory": "The robot has cleared the desktop by picking up and discarding a green beverage bottle and a white paper box into the trash bin."}, {"start_frame": 1081, "end_frame": 1991, "action_text": "wipe the stains on the desk with the scrub sponge", "skill": "Wipe", "language_memory": "The robot has picked up a green beverage bottle, a white paper box, and a sponge, disposed of the bottle and paper box in the trash bin, and adjusted its posture by bending its waist."}, {"start_frame": 1991, "end_frame": 2054, "action_text": "place the sponge on the table", "skill": "Place", "language_memory": "The robot has cleared the desktop by picking up and discarding a green beverage bottle, a white paper box, and a sponge into the trash bin, and wiping stains on the desk with the sponge."}], "detailed_task_instruction": ["Bend your waist downward to pick up the green beverage bottle and the white paper box, then place both items into the trash bin. Straighten your waist and bend over again to pick up the sponge from the table. Use the sponge to wipe the stains on the desk, and finally, place the sponge back on the table."]}
{"task_id": "task_3777", "episode_index": 17, "video_path": "task_3777/videos/chunk-000/{video_key}/episode_000017.mp4", "tasks": ["Clean the desktop."], "length": 2017, "action_config": [{"start_frame": 30, "end_frame": 147, "action_text": "pick up the yellow plastic bag from the table", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 147, "end_frame": 242, "action_text": "pick up the white paper box", "skill": "Pick", "language_memory": "The robot has picked up the yellow plastic bag from the table."}, {"start_frame": 242, "end_frame": 450, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot has picked up the yellow plastic bag and the white paper box from the table."}, {"start_frame": 450, "end_frame": 540, "action_text": "place the yellow plastic bag into the trash can", "skill": "Place", "language_memory": "The robot has picked up the yellow plastic bag and the white paper box from the table and adjusted its posture."}, {"start_frame": 540, "end_frame": 701, "action_text": "place the white cardboard into the trash can", "skill": "Place", "language_memory": "The robot picked up the yellow plastic bag and white paper box, adjusted its posture, and placed the yellow plastic bag into the trash can."}, {"start_frame": 701, "end_frame": 858, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot has picked up a yellow plastic bag and a white paper box, adjusted its posture, and discarded both items into the trash can."}, {"start_frame": 858, "end_frame": 979, "action_text": "pick up the sponge on the table", "skill": "Pick", "language_memory": "The robot has cleared the table by picking up a yellow plastic bag and a white paper box, adjusting its posture, and disposing of both items into the trash can."}, {"start_frame": 979, "end_frame": 1948, "action_text": "wipe the table with a sponge", "skill": "Wipe", "language_memory": "The robot has cleared the table by picking up and discarding a yellow plastic bag, a white paper box, and a white cardboard into the trash can, and is currently holding a sponge."}, {"start_frame": 1948, "end_frame": 2016, "action_text": "place the sponge on the table", "skill": "Place", "language_memory": "The robot has cleared the table by picking up and discarding a yellow plastic bag, a white paper box, and a white cardboard, and subsequently wiped the surface with a sponge."}], "detailed_task_instruction": ["Clean the desktop by first picking up the yellow plastic bag and the white paper box from the table, then adjusting the robot posture to place both items into the trash can. After adjusting the posture again, pick up the sponge from the table, wipe the table surface with it, and finally place the sponge back on the table."]}
{"task_id": "task_3777", "episode_index": 18, "video_path": "task_3777/videos/chunk-000/{video_key}/episode_000018.mp4", "tasks": ["Clean the desktop."], "length": 2501, "action_config": [{"start_frame": 35, "end_frame": 154, "action_text": "pick up the green beverage bottle from the table", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 154, "end_frame": 274, "action_text": "pick up the green bottle on the table", "skill": "Pick", "language_memory": "The green beverage bottle has been picked up from the table."}, {"start_frame": 274, "end_frame": 460, "action_text": "as the height decreases, the waist bends downward", "skill": "AdjustPosture", "language_memory": "The robot has picked up the green beverage bottle from the table."}, {"start_frame": 460, "end_frame": 561, "action_text": "place the green beverage bottle into the trash bin", "skill": "Place", "language_memory": "The robot has picked up green beverage bottles from the table and adjusted its waist posture downward as height decreased."}, {"start_frame": 561, "end_frame": 730, "action_text": "place the green bottle into the trash can", "skill": "Place", "language_memory": "The robot successfully picked up the green beverage bottle from the table and placed it into the trash bin."}, {"start_frame": 730, "end_frame": 878, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot successfully picked up green beverage bottles from the table and disposed of them in the trash bin."}, {"start_frame": 878, "end_frame": 940, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot has successfully picked up green beverage bottles from the table and disposed of them in the trash bin."}, {"start_frame": 940, "end_frame": 1052, "action_text": "pick up the sponge on the table", "skill": "Pick", "language_memory": "The robot has successfully picked up green beverage bottles from the table and disposed of them in the trash bin."}, {"start_frame": 1052, "end_frame": 2438, "action_text": "wipe the stains on the desk with the scrub sponge", "skill": "Wipe", "language_memory": "The robot has picked up green beverage bottles and a sponge from the table, discarded the bottles in the trash bin, and adjusted its posture."}, {"start_frame": 2438, "end_frame": 2500, "action_text": "place the sponge on the table", "skill": "Place", "language_memory": "The robot has removed green beverage bottles from the table and disposed of them in the trash bin, then picked up a sponge to wipe stains on the desk."}], "detailed_task_instruction": ["Bend down to pick up the green beverage bottle and the green bottle from the table, then place both into the trash bin. Adjust your posture as needed. Next, pick up the sponge from the table and wipe the stains on the desk with it. Finally, place the sponge back on the table."]}
{"task_id": "task_3777", "episode_index": 19, "video_path": "task_3777/videos/chunk-000/{video_key}/episode_000019.mp4", "tasks": ["Clean the desktop."], "length": 2071, "action_config": [{"start_frame": 30, "end_frame": 127, "action_text": "pick up the white paper box", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 127, "end_frame": 266, "action_text": "pick up the yellow plastic bag from the table", "skill": "Pick", "language_memory": "The robot has picked up the white paper box."}, {"start_frame": 266, "end_frame": 466, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot has picked up the white paper box and the yellow plastic bag from the table."}, {"start_frame": 466, "end_frame": 595, "action_text": "throw the white cardboard into the trash bin", "skill": "Strike", "language_memory": "The robot has picked up the white paper box and the yellow plastic bag from the table and adjusted its posture."}, {"start_frame": 595, "end_frame": 785, "action_text": "place the yellow plastic bag into the trash bin", "skill": "Place", "language_memory": "The robot has picked up a white paper box and a yellow plastic bag, adjusted its posture, and thrown a white cardboard into the trash bin."}, {"start_frame": 785, "end_frame": 975, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot has picked up a white paper box and a yellow plastic bag, adjusted its posture, and discarded both the white cardboard and the yellow plastic bag into the trash bin."}, {"start_frame": 975, "end_frame": 1069, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot has picked up a white paper box and a yellow plastic bag, discarded the white cardboard and the yellow plastic bag into the trash bin, and adjusted its posture."}, {"start_frame": 1069, "end_frame": 1205, "action_text": "pick up the sponge on the table", "skill": "Pick", "language_memory": "The robot has picked up a white paper box and a yellow plastic bag, discarded the white cardboard and yellow plastic bag into the trash bin, and adjusted its posture while bending over."}, {"start_frame": 1205, "end_frame": 2009, "action_text": "wipe the stains on the desk with the scrub sponge", "skill": "Wipe", "language_memory": "The robot has picked up a white paper box, a yellow plastic bag, and a sponge, discarded the white cardboard and yellow plastic bag into the trash bin, and adjusted its posture multiple times."}, {"start_frame": 2009, "end_frame": 2070, "action_text": "place the sponge on the table", "skill": "Place", "language_memory": "The robot has cleared the table by discarding the white paper box, yellow plastic bag, and white cardboard into the trash bin, and wiped the desk stains using a sponge."}], "detailed_task_instruction": ["Clean the desktop by first picking up the white paper box and the yellow plastic bag from the table. Adjust the robot posture, then throw the white cardboard into the trash bin and place the yellow plastic bag into the trash bin. Adjust the robot posture again, bend over, pick up the sponge from the table, wipe the stains on the desk with the scrub sponge, and finally place the sponge back on the table."]}
{"task_id": "task_3777", "episode_index": 20, "video_path": "task_3777/videos/chunk-000/{video_key}/episode_000020.mp4", "tasks": ["Clean the desktop."], "length": 2093, "action_config": [{"start_frame": 25, "end_frame": 117, "action_text": "pick up the green beverage bottle", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 117, "end_frame": 222, "action_text": "pick up the paper ball from the table", "skill": "Pick", "language_memory": "The robot has picked up the green beverage bottle."}, {"start_frame": 222, "end_frame": 330, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up the green beverage bottle and the paper ball from the table."}, {"start_frame": 330, "end_frame": 415, "action_text": "as the height decreases, the waist bends downward", "skill": "AdjustPosture", "language_memory": "The robot has picked up the green beverage bottle and a paper ball from the table, and rotated its waist."}, {"start_frame": 415, "end_frame": 540, "action_text": "place the green beverage bottle into the trash bin", "skill": "Place", "language_memory": "The robot has picked up the green beverage bottle and a paper ball from the table, while adjusting its waist rotation and bending downward."}, {"start_frame": 540, "end_frame": 683, "action_text": "place the paper ball into the trash can", "skill": "Place", "language_memory": "The robot picked up the green beverage bottle and a paper ball, adjusted its posture by rotating the waist and bending downward, and placed the green beverage bottle into the trash bin."}, {"start_frame": 683, "end_frame": 845, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot has picked up the green beverage bottle and paper ball, adjusted its posture, and successfully discarded both items into the trash bin."}, {"start_frame": 845, "end_frame": 945, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot has picked up a green beverage bottle and a paper ball, discarded both into the trash bin, and adjusted its posture."}, {"start_frame": 945, "end_frame": 1049, "action_text": "pick up the sponge on the table", "skill": "Pick", "language_memory": "The robot has successfully picked up a green beverage bottle and a paper ball, disposed of both items in the trash bin, and adjusted its posture."}, {"start_frame": 1049, "end_frame": 2021, "action_text": "wipe the stains on the desk with the scrub sponge", "skill": "Wipe", "language_memory": "The robot has picked up a green beverage bottle and a paper ball, disposed of both in the trash bin, and is currently holding a sponge after adjusting its posture."}, {"start_frame": 2021, "end_frame": 2085, "action_text": "place the sponge on the table", "skill": "Place", "language_memory": "The robot has cleared the desktop by picking up and discarding a green beverage bottle and a paper ball into the trash bin, and has begun cleaning the desk surface by picking up a sponge and wiping stains."}], "detailed_task_instruction": ["Clean the desktop by first picking up the green beverage bottle and the paper ball from the table. Rotate your waist and bend downward as your height decreases to place both items into the trash bin. Adjust your posture, then bend over to pick up the sponge from the table. Use the scrub sponge to wipe the stains on the desk, and finally, place the sponge back on the table."]}
{"task_id": "task_3777", "episode_index": 21, "video_path": "task_3777/videos/chunk-000/{video_key}/episode_000021.mp4", "tasks": ["Clean the desktop."], "length": 2260, "action_config": [{"start_frame": 40, "end_frame": 132, "action_text": "pick up the crumpled paper from the table", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 132, "end_frame": 284, "action_text": "pick up the blue packaging bag from the table", "skill": "Pick", "language_memory": "The crumpled paper has been picked up from the table."}, {"start_frame": 284, "end_frame": 495, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot has picked up the crumpled paper and the blue packaging bag from the table."}, {"start_frame": 495, "end_frame": 590, "action_text": "place the paper ball into the trash can", "skill": "Place", "language_memory": "The robot has picked up the crumpled paper and the blue packaging bag from the table and adjusted its posture."}, {"start_frame": 590, "end_frame": 736, "action_text": "place the blue packaging bag into the trash can", "skill": "Place", "language_memory": "The robot has picked up a crumpled paper and a blue packaging bag from the table, adjusted its posture, and placed the paper ball into the trash can."}, {"start_frame": 736, "end_frame": 870, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot has cleared the desktop by picking up a crumpled paper and a blue packaging bag, adjusting its posture, and disposing of both items into the trash can."}, {"start_frame": 870, "end_frame": 922, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot has cleared the desktop by picking up a crumpled paper and a blue packaging bag, adjusting its posture, and disposing of both items into the trash can."}, {"start_frame": 922, "end_frame": 1049, "action_text": "pick up the sponge on the table", "skill": "Pick", "language_memory": "The robot has cleared the desktop by picking up and discarding a crumpled paper and a blue packaging bag into the trash can, and is currently in a bent-over posture."}, {"start_frame": 1049, "end_frame": 2186, "action_text": "wipe the table with a sponge", "skill": "Wipe", "language_memory": "The robot has cleared the table by picking up and discarding a crumpled paper and a blue packaging bag into the trash can, and has picked up a sponge."}, {"start_frame": 2186, "end_frame": 2259, "action_text": "place the sponge on the table", "skill": "Place", "language_memory": "The robot has cleared the table by picking up and discarding a crumpled paper and a blue packaging bag into the trash can, and wiped the surface with a sponge."}], "detailed_task_instruction": ["Clean the desktop by first picking up the crumpled paper and the blue packaging bag from the table. After adjusting your posture, place both the paper ball and the blue packaging bag into the trash can. Next, adjust your posture again, bend over, and pick up the sponge from the table. Proceed to wipe the table surface with the sponge, and finally, place the sponge back on the table."]}
{"task_id": "task_3777", "episode_index": 22, "video_path": "task_3777/videos/chunk-000/{video_key}/episode_000022.mp4", "tasks": ["Clean the desktop."], "length": 2460, "action_config": [{"start_frame": 25, "end_frame": 163, "action_text": "pick up the yellow plastic bag from the table", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 163, "end_frame": 248, "action_text": "pick up the green beverage bottle", "skill": "Pick", "language_memory": "The robot has picked up the yellow plastic bag from the table."}, {"start_frame": 248, "end_frame": 435, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot has picked up the yellow plastic bag and the green beverage bottle from the table."}, {"start_frame": 435, "end_frame": 565, "action_text": "place the yellow plastic bag into the trash can", "skill": "Place", "language_memory": "The robot has picked up the yellow plastic bag and the green beverage bottle from the table and adjusted its posture."}, {"start_frame": 565, "end_frame": 743, "action_text": "place the green beverage bottle into the trash bin", "skill": "Place", "language_memory": "The robot picked up the yellow plastic bag and green beverage bottle, adjusted its posture, and placed the bag into the trash can."}, {"start_frame": 743, "end_frame": 889, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot has picked up a yellow plastic bag and a green beverage bottle, adjusted its posture, and discarded both items into the trash can."}, {"start_frame": 889, "end_frame": 940, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot has picked up a yellow plastic bag and a green beverage bottle from the table and placed both items into the trash can."}, {"start_frame": 940, "end_frame": 1074, "action_text": "pick up the sponge on the table", "skill": "Pick", "language_memory": "The robot has picked up a yellow plastic bag and a green beverage bottle from the table and placed both items into the trash can."}, {"start_frame": 1074, "end_frame": 2353, "action_text": "wipe the stains off the table with a sponge", "skill": "Wipe", "language_memory": "The robot has cleared the table by picking up and discarding a yellow plastic bag and a green beverage bottle, and has picked up a sponge."}, {"start_frame": 2353, "end_frame": 2431, "action_text": "place the sponge on the table", "skill": "Place", "language_memory": "The robot has cleared the table by discarding a yellow plastic bag and a green beverage bottle into the trash can and wiping off stains with a sponge."}], "detailed_task_instruction": ["Clean the desktop by first picking up the yellow plastic bag and the green beverage bottle from the table. Adjust the robot posture, then place both the yellow plastic bag and the green beverage bottle into the trash can. After adjusting the robot posture again, bend over to pick up the sponge from the table. Use the sponge to wipe the stains off the table, and finally, place the sponge back on the table."]}
{"task_id": "task_3777", "episode_index": 23, "video_path": "task_3777/videos/chunk-000/{video_key}/episode_000023.mp4", "tasks": ["Clean the desktop."], "length": 1794, "action_config": [{"start_frame": 55, "end_frame": 150, "action_text": "pick up the blue package on the table", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 150, "end_frame": 278, "action_text": "pick up the yellow plastic bag from the table", "skill": "Pick", "language_memory": "The robot has picked up the blue package from the table."}, {"start_frame": 278, "end_frame": 465, "action_text": "as the height decreases, the waist bends downward", "skill": "AdjustPosture", "language_memory": "The robot has picked up the blue package and the yellow plastic bag from the table."}, {"start_frame": 465, "end_frame": 600, "action_text": "place the blue packaging bag into the trash can", "skill": "Place", "language_memory": "The robot has picked up the blue package and the yellow plastic bag from the table and adjusted its waist posture downward as height decreased."}, {"start_frame": 600, "end_frame": 756, "action_text": "place the yellow plastic bag into the trash bin", "skill": "Place", "language_memory": "The robot picked up the blue package and yellow plastic bag from the table, adjusted its waist posture, and placed the blue packaging bag into the trash can."}, {"start_frame": 756, "end_frame": 883, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot picked up the blue package and yellow plastic bag from the table and placed both into the trash can."}, {"start_frame": 883, "end_frame": 929, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot has picked up a blue package and a yellow plastic bag from the table, adjusted its posture, and discarded both items into the trash can."}, {"start_frame": 929, "end_frame": 1034, "action_text": "pick up the sponge on the table", "skill": "Pick", "language_memory": "The robot has picked up a blue package and a yellow plastic bag from the table and placed both items into the trash can."}, {"start_frame": 1034, "end_frame": 1724, "action_text": "wipe the stains on the desk with the scrub sponge", "skill": "Wipe", "language_memory": "The robot has cleared the table by picking up and discarding a blue package, a yellow plastic bag, and a sponge into the trash can."}, {"start_frame": 1724, "end_frame": 1793, "action_text": "place the sponge on the table", "skill": "Place", "language_memory": "The robot has cleared the table by picking up and discarding a blue package and a yellow plastic bag, then wiped the desk surface using a sponge."}], "detailed_task_instruction": ["Clean the desktop by first picking up the blue package and the yellow plastic bag from the table. As you reach, bend your waist downward to adjust your posture, then place both the blue package and the yellow plastic bag into the trash can. Next, bend over to pick up the sponge from the table. Use the sponge to wipe the stains on the desk, and finally, place the sponge back on the table."]}
{"task_id": "task_3777", "episode_index": 24, "video_path": "task_3777/videos/chunk-000/{video_key}/episode_000024.mp4", "tasks": ["Clean the desktop."], "length": 2004, "action_config": [{"start_frame": 65, "end_frame": 175, "action_text": "pick up the yellow plastic bag from the table", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 175, "end_frame": 296, "action_text": "pick up the white wrapping paper from the table", "skill": "Pick", "language_memory": "The robot has picked up the yellow plastic bag from the table."}, {"start_frame": 296, "end_frame": 474, "action_text": "as the height decreases, the waist bends downward", "skill": "AdjustPosture", "language_memory": "The robot has picked up the yellow plastic bag and the white wrapping paper from the table."}, {"start_frame": 474, "end_frame": 587, "action_text": "place the yellow plastic bag into the trash can", "skill": "Place", "language_memory": "The robot has picked up the yellow plastic bag and the white wrapping paper from the table and adjusted its waist posture downward as height decreased."}, {"start_frame": 587, "end_frame": 765, "action_text": "place the white wrapping paper into the trash can", "skill": "Place", "language_memory": "The robot picked up the yellow plastic bag and white wrapping paper from the table, adjusted its waist posture, and placed the yellow plastic bag into the trash can."}, {"start_frame": 765, "end_frame": 918, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot picked up the yellow plastic bag and white wrapping paper from the table, adjusted its waist height, and discarded both items into the trash can."}, {"start_frame": 918, "end_frame": 994, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot picked up a yellow plastic bag and white wrapping paper from the table, discarded both into the trash can, and adjusted its posture."}, {"start_frame": 994, "end_frame": 1105, "action_text": "pick up the sponge on the table", "skill": "Pick", "language_memory": "The robot has cleared the table by picking up and discarding a yellow plastic bag and white wrapping paper into the trash can, while adjusting its posture and bending down."}, {"start_frame": 1105, "end_frame": 1904, "action_text": "wipe the stains on the desk with the scrub sponge", "skill": "Wipe", "language_memory": "The robot has cleared the table by picking up and discarding a yellow plastic bag, white wrapping paper, and a sponge into the trash can, while adjusting its posture throughout the process."}, {"start_frame": 1904, "end_frame": 1967, "action_text": "place the sponge on the table", "skill": "Place", "language_memory": "The robot has cleared the table by discarding a yellow plastic bag and white wrapping paper into the trash can, and wiped stains on the desk using a sponge."}], "detailed_task_instruction": ["Clean the desktop by first picking up the yellow plastic bag and the white wrapping paper from the table. As you reach for these items, bend your waist downward to adjust your posture, then place both the yellow plastic bag and the white wrapping paper into the trash can. After disposing of the waste, bend over again to pick up the sponge from the table. Use the scrub sponge to wipe the stains on the desk, and finally, place the sponge back on the table once the cleaning is complete."]}
{"task_id": "task_3777", "episode_index": 25, "video_path": "task_3777/videos/chunk-000/{video_key}/episode_000025.mp4", "tasks": ["Clean the desktop."], "length": 2291, "action_config": [{"start_frame": 38, "end_frame": 140, "action_text": "pick up the yellow plastic bag from the table", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 140, "end_frame": 240, "action_text": "pick up the green drink bottle", "skill": "Pick", "language_memory": "The robot has picked up the yellow plastic bag from the table."}, {"start_frame": 240, "end_frame": 369, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up the yellow plastic bag and the green drink bottle from the table."}, {"start_frame": 369, "end_frame": 478, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot has picked up the yellow plastic bag and the green drink bottle and rotated its waist."}, {"start_frame": 478, "end_frame": 581, "action_text": "place the yellow plastic bag into the trash can", "skill": "Place", "language_memory": "The robot has picked up the yellow plastic bag and the green drink bottle, rotated its waist, and adjusted its posture."}, {"start_frame": 581, "end_frame": 740, "action_text": "place the green beverage bottle into the trash bin", "skill": "Place", "language_memory": "The robot picked up the yellow plastic bag and green drink bottle, adjusted its posture, and placed the bag into the trash can."}, {"start_frame": 740, "end_frame": 891, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot picked up a yellow plastic bag and a green drink bottle, adjusted its posture, and placed both items into the trash can."}, {"start_frame": 891, "end_frame": 942, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot has picked up a yellow plastic bag and a green drink bottle, adjusted its posture, and placed both items into the trash can."}, {"start_frame": 942, "end_frame": 1074, "action_text": "pick up the sponge on the table", "skill": "Pick", "language_memory": "The robot has picked up a yellow plastic bag and a green drink bottle, discarded both into the trash can, and adjusted its posture while bending over."}, {"start_frame": 1074, "end_frame": 2170, "action_text": "wipe the stains on the desk with the scrub sponge", "skill": "Wipe", "language_memory": "The robot has cleared the table by picking up and discarding a yellow plastic bag and a green beverage bottle, and has picked up a sponge."}, {"start_frame": 2170, "end_frame": 2247, "action_text": "place the sponge on the table", "skill": "Place", "language_memory": "The robot has cleared the table by disposing of a yellow plastic bag and a green beverage bottle, then wiped stains on the desk using a sponge."}], "detailed_task_instruction": ["Clean the desktop by first picking up the yellow plastic bag and the green drink bottle from the table. Rotate your waist and adjust your posture to place the yellow plastic bag into the trash can, followed by placing the green beverage bottle into the trash bin. After adjusting your posture again, bend over to pick up the sponge from the table. Use the scrub sponge to wipe the stains on the desk, then place the sponge back on the table to complete the cleaning."]}
{"task_id": "task_3777", "episode_index": 26, "video_path": "task_3777/videos/chunk-000/{video_key}/episode_000026.mp4", "tasks": ["Clean the desktop."], "length": 1880, "action_config": [{"start_frame": 35, "end_frame": 145, "action_text": "pick up the blue package from the table", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 145, "end_frame": 329, "action_text": "pick up the yellow plastic bag from the table", "skill": "Pick", "language_memory": "The robot has picked up the blue package from the table."}, {"start_frame": 329, "end_frame": 537, "action_text": "as the height decreases, the waist bends downward", "skill": "AdjustPosture", "language_memory": "The robot has picked up the blue package and the yellow plastic bag from the table."}, {"start_frame": 537, "end_frame": 635, "action_text": "place the blue packaging bag into the trash can", "skill": "Place", "language_memory": "The robot has picked up the blue package and the yellow plastic bag from the table and adjusted its waist posture downward as height decreased."}, {"start_frame": 635, "end_frame": 774, "action_text": "place the yellow plastic bag into the trash bin", "skill": "Place", "language_memory": "The robot picked up the blue package and yellow plastic bag from the table, adjusted its waist posture, and placed the blue packaging bag into the trash can."}, {"start_frame": 774, "end_frame": 920, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot picked up the blue package and yellow plastic bag from the table and placed both into the trash can."}, {"start_frame": 920, "end_frame": 996, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot picked up the blue package and yellow plastic bag from the table, adjusted its posture, and discarded both items into the trash can."}, {"start_frame": 996, "end_frame": 1088, "action_text": "pick up the sponge on the table", "skill": "Pick", "language_memory": "The robot has picked up a blue package and a yellow plastic bag from the table and placed both items into the trash can."}, {"start_frame": 1088, "end_frame": 1822, "action_text": "wipe the stains off the table with a sponge", "skill": "Wipe", "language_memory": "The robot has cleared the table by picking up and discarding a blue package and a yellow plastic bag into the trash can, and has picked up a sponge."}, {"start_frame": 1822, "end_frame": 1879, "action_text": "place the sponge on the table", "skill": "Place", "language_memory": "The robot cleared the table by picking up and discarding a blue package and a yellow plastic bag, then wiped remaining stains using a sponge."}], "detailed_task_instruction": ["Clean the desktop by first picking up the blue package and the yellow plastic bag from the table. As you reach, bend your waist downward to adjust your posture. Place both the blue package and the yellow plastic bag into the trash can. Next, bend over to pick up the sponge from the table. Use the sponge to wipe the stains off the table surface. Finally, place the sponge back on the table and adjust your robot posture to complete the cleaning task."]}
{"task_id": "task_3777", "episode_index": 27, "video_path": "task_3777/videos/chunk-000/{video_key}/episode_000027.mp4", "tasks": ["Clean the desktop."], "length": 2144, "action_config": [{"start_frame": 22, "end_frame": 117, "action_text": "pick up the green beverage bottle", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 117, "end_frame": 260, "action_text": "pick up the yellow plastic bag from the table", "skill": "Pick", "language_memory": "The robot has picked up the green beverage bottle."}, {"start_frame": 260, "end_frame": 458, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot has picked up the green beverage bottle and the yellow plastic bag from the table."}, {"start_frame": 458, "end_frame": 555, "action_text": "place the green beverage bottle into the trash bin", "skill": "Place", "language_memory": "The robot has picked up the green beverage bottle and the yellow plastic bag from the table and adjusted its posture."}, {"start_frame": 555, "end_frame": 695, "action_text": "place the yellow plastic bag into the trash bin", "skill": "Place", "language_memory": "The robot picked up the green beverage bottle and the yellow plastic bag, adjusted its posture, and placed the bottle into the trash bin."}, {"start_frame": 695, "end_frame": 832, "action_text": "pick up the waist", "skill": "Pick", "language_memory": "The robot has picked up the green beverage bottle and yellow plastic bag, adjusted its posture, and placed both items into the trash bin."}, {"start_frame": 832, "end_frame": 921, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot has picked up and discarded a green beverage bottle and a yellow plastic bag into the trash bin, adjusted its posture, and picked up its waist."}, {"start_frame": 921, "end_frame": 1036, "action_text": "pick up the sponge on the table", "skill": "Pick", "language_memory": "The robot has cleared the desktop by picking up and disposing of a green beverage bottle and a yellow plastic bag into the trash bin, followed by adjusting its posture and bending over."}, {"start_frame": 1036, "end_frame": 2051, "action_text": "wipe the table with a sponge", "skill": "Wipe", "language_memory": "The robot has picked up and discarded a green beverage bottle and a yellow plastic bag into the trash bin, adjusted its posture, and picked up a sponge from the table."}, {"start_frame": 2051, "end_frame": 2143, "action_text": "place the sponge on the table", "skill": "Place", "language_memory": "The robot has cleared the table by disposing of a green beverage bottle and a yellow plastic bag, then wiped the surface with a sponge."}], "detailed_task_instruction": ["Clean the desktop by first picking up the green beverage bottle and the yellow plastic bag from the table. Adjust the robot posture, then place both the green beverage bottle and the yellow plastic bag into the trash bin. Next, pick up the waist and bend over to reach the table. Pick up the sponge from the table and wipe the table surface thoroughly. Finally, place the sponge back on the table to complete the cleaning process."]}
{"task_id": "task_3777", "episode_index": 28, "video_path": "task_3777/videos/chunk-000/{video_key}/episode_000028.mp4", "tasks": ["Clean the desktop."], "length": 2030, "action_config": [{"start_frame": 35, "end_frame": 149, "action_text": "pick up the crumpled paper ball from the table", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 149, "end_frame": 265, "action_text": "pick up the yellow plastic bag from the table", "skill": "Pick", "language_memory": "The robot has picked up the crumpled paper ball from the table."}, {"start_frame": 265, "end_frame": 475, "action_text": "as the height decreases, the waist bends downward", "skill": "AdjustPosture", "language_memory": "The robot has picked up the crumpled paper ball and the yellow plastic bag from the table."}, {"start_frame": 475, "end_frame": 572, "action_text": "place the paper ball into the trash can", "skill": "Place", "language_memory": "The robot has cleared the crumpled paper ball and yellow plastic bag from the table and adjusted its waist posture downward."}, {"start_frame": 572, "end_frame": 717, "action_text": "place the yellow plastic bag into the trash bin", "skill": "Place", "language_memory": "The robot has picked up a crumpled paper ball and a yellow plastic bag from the table, adjusted its waist posture, and placed the paper ball into the trash can."}, {"start_frame": 717, "end_frame": 879, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot has cleared the table by picking up a crumpled paper ball and a yellow plastic bag, then disposing of both items into the trash can."}, {"start_frame": 879, "end_frame": 936, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot has cleared the desktop by picking up a crumpled paper ball and a yellow plastic bag, disposing of both into the trash can, and adjusting its posture."}, {"start_frame": 936, "end_frame": 1085, "action_text": "pick up the sponge on the table", "skill": "Pick", "language_memory": "The robot has cleared the desktop by picking up a crumpled paper ball and a yellow plastic bag, disposing of both into the trash can, and adjusting its posture."}, {"start_frame": 1085, "end_frame": 1963, "action_text": "wipe the stains on the desk with the scrub sponge", "skill": "Wipe", "language_memory": "The robot has cleared the table by picking up and discarding a crumpled paper ball and a yellow plastic bag into the trash can, and has picked up a sponge."}, {"start_frame": 1963, "end_frame": 2029, "action_text": "place the sponge scrub on the table", "skill": "Place", "language_memory": "The robot has cleared the table by picking up and discarding a crumpled paper ball and a yellow plastic bag, then wiped the desk surface using a sponge."}], "detailed_task_instruction": ["Clean the desktop by first picking up the crumpled paper ball and the yellow plastic bag from the table. As you reach, bend your waist downward to place both items into the trash can. Adjust your posture and bend over again to pick up the sponge from the table. Use the scrub sponge to wipe the stains on the desk, then place the sponge back on the table once cleaning is complete."]}
{"task_id": "task_3777", "episode_index": 29, "video_path": "task_3777/videos/chunk-000/{video_key}/episode_000029.mp4", "tasks": ["Clean the desktop."], "length": 1798, "action_config": [{"start_frame": 50, "end_frame": 136, "action_text": "pick up the green beverage bottle", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 136, "end_frame": 280, "action_text": "pick up the white wrapping paper from the table", "skill": "Pick", "language_memory": "The robot has picked up the green beverage bottle."}, {"start_frame": 280, "end_frame": 466, "action_text": "as the height decreases, the waist bends downward", "skill": "AdjustPosture", "language_memory": "The robot has picked up the green beverage bottle and the white wrapping paper from the table."}, {"start_frame": 466, "end_frame": 570, "action_text": "place the green beverage bottle into the trash bin", "skill": "Place", "language_memory": "The robot has picked up the green beverage bottle and the white wrapping paper, and adjusted its waist posture by bending downward as height decreased."}, {"start_frame": 570, "end_frame": 731, "action_text": "place the white wrapping paper into the trash bin", "skill": "Place", "language_memory": "The robot picked up the green beverage bottle and white wrapping paper, adjusted its waist posture, and placed the bottle into the trash bin."}, {"start_frame": 731, "end_frame": 890, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot has picked up a green beverage bottle and white wrapping paper, adjusted its waist posture, and discarded both items into the trash bin."}, {"start_frame": 890, "end_frame": 1010, "action_text": "pick up the sponge on the table", "skill": "Pick", "language_memory": "The robot has picked up a green beverage bottle and white wrapping paper, discarded both into the trash bin, and adjusted its posture."}, {"start_frame": 1010, "end_frame": 1684, "action_text": "wipe the stains on the desk with the scrub sponge", "skill": "Wipe", "language_memory": "The robot has picked up and discarded a green beverage bottle and white wrapping paper into the trash bin, adjusted its posture, and is currently holding a sponge."}, {"start_frame": 1684, "end_frame": 1771, "action_text": "place the sponge scrub on the table", "skill": "Place", "language_memory": "The robot has cleared the green beverage bottle and white wrapping paper from the table and disposed of them in the trash bin, then wiped stains on the desk using a sponge."}], "detailed_task_instruction": ["Clean the desktop by first picking up the green beverage bottle and the white wrapping paper from the table. As the height decreases, bend the waist downward to place both the green beverage bottle and the white wrapping paper into the trash bin. After adjusting the robot posture, pick up the sponge from the table and wipe the stains on the desk with the scrub sponge. Finally, place the sponge scrub back on the table."]}
{"task_id": "task_3777", "episode_index": 30, "video_path": "task_3777/videos/chunk-000/{video_key}/episode_000030.mp4", "tasks": ["Clean the desktop."], "length": 2237, "action_config": [{"start_frame": 25, "end_frame": 159, "action_text": "pick up the green bottle on the table", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 159, "end_frame": 305, "action_text": "pick up the yellow plastic bag from the table", "skill": "Pick", "language_memory": "The robot has picked up the green bottle from the table."}, {"start_frame": 305, "end_frame": 493, "action_text": "height decreases while the waist bends downward", "skill": "AdjustPosture", "language_memory": "The robot has picked up the green bottle and the yellow plastic bag from the table."}, {"start_frame": 493, "end_frame": 612, "action_text": "place the green bottle into the trash can", "skill": "Place", "language_memory": "The robot has picked up the green bottle and the yellow plastic bag from the table."}, {"start_frame": 612, "end_frame": 756, "action_text": "place the yellow plastic bag into the trash bin", "skill": "Place", "language_memory": "The robot picked up the green bottle and yellow plastic bag from the table, adjusted its waist height, and placed the green bottle into the trash can."}, {"start_frame": 756, "end_frame": 889, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot picked up a green bottle and a yellow plastic bag from the table and placed both items into the trash can."}, {"start_frame": 889, "end_frame": 949, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot picked up a green bottle and a yellow plastic bag from the table and placed both items into the trash can."}, {"start_frame": 949, "end_frame": 1059, "action_text": "pick up the sponge on the table", "skill": "Pick", "language_memory": "The robot has picked up a green bottle and a yellow plastic bag from the table and placed both items into the trash can."}, {"start_frame": 1059, "end_frame": 2099, "action_text": "wipe the stains on the desk with the scrub sponge", "skill": "Wipe", "language_memory": "The robot has cleared the table by picking up and discarding a green bottle and a yellow plastic bag, and has picked up a sponge."}, {"start_frame": 2099, "end_frame": 2170, "action_text": "place the sponge on the table", "skill": "Place", "language_memory": "The robot has cleared the table by picking up and discarding a green bottle and a yellow plastic bag, then wiped the desk surface using a sponge."}], "detailed_task_instruction": ["Bend down to pick up the green bottle and the yellow plastic bag from the table, then place both items into the trash can. After adjusting your posture, bend over again to pick up the sponge from the table. Use the sponge to wipe the stains on the desk, and finally place the sponge back on the table."]}
{"task_id": "task_3777", "episode_index": 31, "video_path": "task_3777/videos/chunk-000/{video_key}/episode_000031.mp4", "tasks": ["Clean the desktop."], "length": 1976, "action_config": [{"start_frame": 40, "end_frame": 144, "action_text": "pick up the blue package on the table", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 144, "end_frame": 256, "action_text": "pick up the green drink bottle", "skill": "Pick", "language_memory": "The robot has picked up the blue package from the table."}, {"start_frame": 256, "end_frame": 445, "action_text": "as the height decreases, the waist bends downward", "skill": "AdjustPosture", "language_memory": "The robot has picked up the blue package and the green drink bottle from the table."}, {"start_frame": 445, "end_frame": 572, "action_text": "place the blue packaging bag into the trash can", "skill": "Place", "language_memory": "The robot has picked up the blue package and the green drink bottle from the table."}, {"start_frame": 572, "end_frame": 733, "action_text": "place the green beverage bottle into the trash bin", "skill": "Place", "language_memory": "The robot picked up the blue package and green drink bottle, adjusted its waist posture, and placed the blue packaging bag into the trash can."}, {"start_frame": 733, "end_frame": 893, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot picked up the blue package and green drink bottle, adjusted its waist posture, and discarded both items into the trash can."}, {"start_frame": 893, "end_frame": 999, "action_text": "pick up the sponge on the table", "skill": "Pick", "language_memory": "The robot has picked up a blue package and a green drink bottle, discarded both into the trash can, and adjusted its posture."}, {"start_frame": 999, "end_frame": 1915, "action_text": "wipe the stains on the desk with the scrub sponge", "skill": "Wipe", "language_memory": "The robot has cleared the table by picking up and discarding a blue package, a green drink bottle, and a sponge into the trash can, while adjusting its posture during the process."}, {"start_frame": 1915, "end_frame": 1975, "action_text": "place the sponge on the table", "skill": "Place", "language_memory": "The robot has cleared the table by discarding the blue package and green drink bottle into the trash can and wiped the desk stains using a sponge."}], "detailed_task_instruction": ["Clean the desktop by first picking up the blue package and the green drink bottle from the table. As the height decreases, bend the waist downward to place both the blue packaging bag and the green beverage bottle into the trash can. Adjust the robot posture, then pick up the sponge from the table. Use the scrub sponge to wipe the stains on the desk, and finally place the sponge back on the table."]}
{"task_id": "task_3777", "episode_index": 32, "video_path": "task_3777/videos/chunk-000/{video_key}/episode_000032.mp4", "tasks": ["Clean the desktop."], "length": 1835, "action_config": [{"start_frame": 31, "end_frame": 140, "action_text": "pick up the yellow plastic bag from the table", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 140, "end_frame": 254, "action_text": "pick up the paper ball from the table", "skill": "Pick", "language_memory": "The robot has picked up the yellow plastic bag from the table."}, {"start_frame": 254, "end_frame": 459, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot has picked up the yellow plastic bag and the paper ball from the table."}, {"start_frame": 459, "end_frame": 570, "action_text": "place the yellow plastic bag into the trash bin", "skill": "Place", "language_memory": "The robot has picked up the yellow plastic bag and the paper ball from the table and adjusted its posture."}, {"start_frame": 570, "end_frame": 721, "action_text": "place the paper ball into the trash can", "skill": "Place", "language_memory": "The robot picked up the yellow plastic bag and a paper ball from the table, adjusted its posture, and placed the yellow plastic bag into the trash bin."}, {"start_frame": 721, "end_frame": 917, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot has cleared the table by picking up and disposing of a yellow plastic bag and a paper ball into the trash bin."}, {"start_frame": 917, "end_frame": 1025, "action_text": "pick up the sponge on the table", "skill": "Pick", "language_memory": "The robot has cleared the table by picking up and disposing of a yellow plastic bag and a paper ball into the trash bin."}, {"start_frame": 1025, "end_frame": 1701, "action_text": "wipe the stains on the desk with the scrub sponge", "skill": "Wipe", "language_memory": "The robot has cleared the table of a yellow plastic bag, a paper ball, and a sponge, and disposed of the bag and paper ball in the trash bin."}, {"start_frame": 1701, "end_frame": 1798, "action_text": "place the sponge on the table", "skill": "Place", "language_memory": "The robot has cleared the table by disposing of a yellow plastic bag and a paper ball into the trash bin and wiped stains on the desk using a sponge."}], "detailed_task_instruction": ["Clean the desktop by first picking up the yellow plastic bag and the paper ball from the table, then adjusting the robot posture to place both items into the trash bin. After adjusting the posture again, pick up the sponge from the table and use it to wipe the stains on the desk. Finally, place the sponge back on the table to complete the cleaning process."]}
{"task_id": "task_3777", "episode_index": 33, "video_path": "task_3777/videos/chunk-000/{video_key}/episode_000033.mp4", "tasks": ["Clean the desktop."], "length": 1813, "action_config": [{"start_frame": 50, "end_frame": 146, "action_text": "pick up the green bottle on the table", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 146, "end_frame": 265, "action_text": "pick up the white wrapping paper on the table", "skill": "Pick", "language_memory": "The robot has picked up the green bottle from the table."}, {"start_frame": 265, "end_frame": 468, "action_text": "as the height decreases, the waist bends downward", "skill": "AdjustPosture", "language_memory": "The robot has picked up the green bottle and the white wrapping paper from the table."}, {"start_frame": 468, "end_frame": 560, "action_text": "place the green bottle into the trash can", "skill": "Place", "language_memory": "The robot has picked up the green bottle and white wrapping paper from the table and adjusted its waist posture downward as height decreased."}, {"start_frame": 560, "end_frame": 712, "action_text": "place the white wrapping paper into the trash can", "skill": "Place", "language_memory": "The robot picked up the green bottle and white wrapping paper from the table, adjusted its waist posture, and placed the green bottle into the trash can."}, {"start_frame": 712, "end_frame": 857, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot has picked up the green bottle and white wrapping paper from the table and discarded both into the trash can."}, {"start_frame": 857, "end_frame": 963, "action_text": "pick up the sponge on the table", "skill": "Pick", "language_memory": "The robot has picked up a green bottle and white wrapping paper from the table, discarded both items into the trash can, and adjusted its posture."}, {"start_frame": 963, "end_frame": 1679, "action_text": "wipe the stains on the desk with the scrub sponge", "skill": "Wipe", "language_memory": "The robot has cleared the table by picking up and discarding a green bottle and white wrapping paper into the trash can, adjusted its posture, and is currently holding a sponge."}, {"start_frame": 1679, "end_frame": 1767, "action_text": "place the sponge on the table", "skill": "Place", "language_memory": "The robot has cleared the table by discarding the green bottle and white wrapping paper into the trash can and wiped the desk stains using a sponge."}], "detailed_task_instruction": ["Clean the desktop by first picking up the green bottle and the white wrapping paper from the table. As the height decreases, bend the waist downward to place both the green bottle and the white wrapping paper into the trash can. Adjust the robot posture, then pick up the sponge from the table. Use the scrub sponge to wipe the stains on the desk, and finally place the sponge back on the table."]}
{"task_id": "task_3777", "episode_index": 34, "video_path": "task_3777/videos/chunk-000/{video_key}/episode_000034.mp4", "tasks": ["Clean the desktop."], "length": 2350, "action_config": [{"start_frame": 25, "end_frame": 125, "action_text": "pick up the green beverage bottle", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 125, "end_frame": 201, "action_text": "pick up the yellow plastic bag from the table", "skill": "Pick", "language_memory": "The robot has picked up the green beverage bottle."}, {"start_frame": 201, "end_frame": 458, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot has picked up the green beverage bottle and the yellow plastic bag from the table."}, {"start_frame": 458, "end_frame": 627, "action_text": "place the yellow plastic bag into the trash can", "skill": "Place", "language_memory": "The robot has picked up the green beverage bottle and the yellow plastic bag from the table and adjusted its posture."}, {"start_frame": 627, "end_frame": 921, "action_text": "place the green beverage bottle into the trash bin", "skill": "Place", "language_memory": "The robot picked up the green beverage bottle and the yellow plastic bag, adjusted its posture, and placed the yellow plastic bag into the trash can."}, {"start_frame": 921, "end_frame": 1062, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot has picked up a green beverage bottle and a yellow plastic bag, adjusted its posture, and placed both items into the trash can."}, {"start_frame": 1062, "end_frame": 1197, "action_text": "pick up the sponge on the table", "skill": "Pick", "language_memory": "The robot has picked up a green beverage bottle and a yellow plastic bag, discarded both into the trash can, and adjusted its posture."}, {"start_frame": 1197, "end_frame": 2029, "action_text": "wipe the stains off the table with a sponge", "skill": "Wipe", "language_memory": "The robot has cleared the desktop by picking up and discarding a green beverage bottle and a yellow plastic bag into the trash can, and has picked up a sponge."}, {"start_frame": 2029, "end_frame": 2068, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot has cleared the table by disposing of a green beverage bottle and a yellow plastic bag, and wiped the surface using a sponge."}, {"start_frame": 2068, "end_frame": 2257, "action_text": "wipe the table with a sponge", "skill": "Wipe", "language_memory": "The robot has cleared the table by disposing of a green beverage bottle and a yellow plastic bag, and wiped the surface using a sponge."}, {"start_frame": 2257, "end_frame": 2349, "action_text": "place the sponge on the table", "skill": "Place", "language_memory": "The robot has cleared the table by disposing of a green beverage bottle and a yellow plastic bag, then wiped the surface clean using a sponge."}], "detailed_task_instruction": ["Clean the desktop by first picking up the green beverage bottle and the yellow plastic bag from the table. Adjust the robot posture, then place both the yellow plastic bag and the green beverage bottle into the trash can. After adjusting the robot posture again, pick up the sponge from the table. Wipe the stains off the table with the sponge, bend over to wipe the entire table surface, and finally place the sponge back on the table."]}
{"task_id": "task_3777", "episode_index": 35, "video_path": "task_3777/videos/chunk-000/{video_key}/episode_000035.mp4", "tasks": ["Clean the desktop."], "length": 2747, "action_config": [{"start_frame": 65, "end_frame": 179, "action_text": "pick up the green bottle on the table", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 179, "end_frame": 317, "action_text": "pick up the yellow plastic bag on the table", "skill": "Pick", "language_memory": "The robot has picked up the green bottle from the table."}, {"start_frame": 317, "end_frame": 490, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot has picked up the green bottle and the yellow plastic bag from the table."}, {"start_frame": 490, "end_frame": 602, "action_text": "place the yellow plastic bag into the trash bin", "skill": "Place", "language_memory": "The robot has picked up the green bottle and yellow plastic bag from the table and adjusted its posture."}, {"start_frame": 602, "end_frame": 737, "action_text": "hand over the green bottle", "skill": "Handover", "language_memory": "The robot picked up the green bottle and yellow plastic bag from the table, adjusted its posture, and placed the yellow plastic bag into the trash bin."}, {"start_frame": 737, "end_frame": 908, "action_text": "place the green bottle into the trash can", "skill": "Place", "language_memory": "The robot picked up a green bottle and a yellow plastic bag, adjusted its posture, placed the bag in the trash bin, and handed over the bottle."}, {"start_frame": 908, "end_frame": 1044, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot picked up a green bottle and a yellow plastic bag from the table, adjusted its posture, and disposed of both items into the trash bin."}, {"start_frame": 1044, "end_frame": 1137, "action_text": "as height increases, the waist bends downward", "skill": "AdjustPosture", "language_memory": "The robot has cleared the desktop by picking up and disposing of a green bottle and a yellow plastic bag into the trash bin."}, {"start_frame": 1137, "end_frame": 1218, "action_text": "pick up the sponge on the table", "skill": "Pick", "language_memory": "The robot has cleared the desktop by picking up and disposing of a green bottle and a yellow plastic bag into the trash bin, while adjusting its posture and bending its waist as height increased."}, {"start_frame": 1218, "end_frame": 1893, "action_text": "wipe the table with a sponge", "skill": "Wipe", "language_memory": "The robot has cleared the table by picking up and disposing of a green bottle, a yellow plastic bag, and a sponge, while adjusting its posture and bending its waist as needed."}, {"start_frame": 1893, "end_frame": 2619, "action_text": "wipe the stains off the table with a sponge", "skill": "Wipe", "language_memory": "The robot has cleared the table by disposing of the green bottle and yellow plastic bag in the trash bin and wiping the surface with a sponge."}, {"start_frame": 2619, "end_frame": 2746, "action_text": "place the sponge on the table", "skill": "Place", "language_memory": "The robot has cleared the table by disposing of a green bottle and a yellow plastic bag, and wiped the surface clean using a sponge."}], "detailed_task_instruction": ["Clean the desktop by first picking up the green bottle and the yellow plastic bag from the table. Adjust the robot posture, then place the yellow plastic bag into the trash bin and hand over the green bottle to place it into the trash can. Adjust the robot posture again, bend the waist downward as height increases, pick up the sponge from the table, and wipe the table to remove stains. Finally, place the sponge back on the table."]}
{"task_id": "task_3777", "episode_index": 36, "video_path": "task_3777/videos/chunk-000/{video_key}/episode_000036.mp4", "tasks": ["Clean the desktop."], "length": 1951, "action_config": [{"start_frame": 50, "end_frame": 173, "action_text": "pick up the white wrapping paper from the table", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 173, "end_frame": 306, "action_text": "pick up the green drink bottle", "skill": "Pick", "language_memory": "The robot has picked up the white wrapping paper from the table."}, {"start_frame": 306, "end_frame": 530, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot has picked up the white wrapping paper and the green drink bottle from the table."}, {"start_frame": 530, "end_frame": 642, "action_text": "place the white wrapping paper into the trash bin", "skill": "Strike", "language_memory": "The robot has picked up the white wrapping paper and the green drink bottle and adjusted its posture."}, {"start_frame": 642, "end_frame": 784, "action_text": "place the green beverage bottle into the trash bin", "skill": "Place", "language_memory": "The robot picked up the white wrapping paper and green drink bottle, adjusted its posture, and placed the wrapping paper into the trash bin."}, {"start_frame": 784, "end_frame": 927, "action_text": "the input action text describes a body movement (\"lift your waist while rotating it\") rather than a manipulation task involving an object to be picked up or placed. therefore, it cannot be rewritten into the specified \"pick up the x\" or \"place the x...\" format without inventing objects or actions, which violates the rules. no valid output sentence can be generated", "skill": "Pick", "language_memory": "The robot has picked up the white wrapping paper and green drink bottle, adjusted its posture, and discarded both items into the trash bin."}, {"start_frame": 927, "end_frame": 963, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot has cleared the table by picking up and discarding the white wrapping paper and the green beverage bottle into the trash bin."}, {"start_frame": 963, "end_frame": 1085, "action_text": "pick up the sponge on the table", "skill": "Pick", "language_memory": "The robot has cleared the table by picking up and discarding the white wrapping paper and the green beverage bottle into the trash bin."}, {"start_frame": 1085, "end_frame": 1850, "action_text": "wipe the stains on the desk with the scrub sponge", "skill": "Wipe", "language_memory": "The robot has cleared the table by picking up and discarding the white wrapping paper, green drink bottle, and sponge into the trash bin."}, {"start_frame": 1850, "end_frame": 1930, "action_text": "place the sponge on the table", "skill": "Place", "language_memory": "The robot has cleared the table by discarding the white wrapping paper and green beverage bottle into the trash bin and wiped the desk stains using a sponge."}], "detailed_task_instruction": ["Clean the desktop by first picking up the white wrapping paper and the green drink bottle from the table, then placing both items into the trash bin. Afterward, bend over to pick up the sponge from the table, wipe the stains on the desk with it, and finally place the sponge back on the table."]}
{"task_id": "task_3777", "episode_index": 37, "video_path": "task_3777/videos/chunk-000/{video_key}/episode_000037.mp4", "tasks": ["Clean the desktop."], "length": 2362, "action_config": [{"start_frame": 45, "end_frame": 174, "action_text": "pick up the white wrapping paper from the table", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 174, "end_frame": 262, "action_text": "pick up the blue package on the table", "skill": "Pick", "language_memory": "The robot has picked up the white wrapping paper from the table."}, {"start_frame": 262, "end_frame": 444, "action_text": "as the height decreases, the waist bends downward", "skill": "AdjustPosture", "language_memory": "The robot has picked up the white wrapping paper and the blue package from the table."}, {"start_frame": 444, "end_frame": 560, "action_text": "place the white wrapping paper into the trash can", "skill": "Place", "language_memory": "The robot has picked up the white wrapping paper and the blue package from the table and adjusted its waist posture as height decreased."}, {"start_frame": 560, "end_frame": 720, "action_text": "place the blue packaging bag into the trash can", "skill": "Place", "language_memory": "The robot picked up the white wrapping paper and blue package from the table, adjusted its waist height, and placed the white wrapping paper into the trash can."}, {"start_frame": 720, "end_frame": 846, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot has picked up the white wrapping paper and blue package from the table and discarded both into the trash can."}, {"start_frame": 846, "end_frame": 885, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot has cleared the desktop by picking up and discarding the white wrapping paper and blue package into the trash can, followed by a posture adjustment."}, {"start_frame": 885, "end_frame": 984, "action_text": "pick up the sponge on the table", "skill": "Pick", "language_memory": "The robot has cleared the desktop by picking up and discarding the white wrapping paper and blue package into the trash can, while adjusting its posture and bending downward."}, {"start_frame": 984, "end_frame": 2248, "action_text": "wipe the stains on the desk with the scrub sponge", "skill": "Wipe", "language_memory": "The robot cleared the table by picking up and discarding the white wrapping paper, blue package, and sponge into the trash can, while adjusting its posture and bending down during the process."}, {"start_frame": 2248, "end_frame": 2318, "action_text": "place the sponge on the table", "skill": "Place", "language_memory": "The robot cleared the table by picking up and discarding the white wrapping paper and blue package into the trash can, then wiped desk stains using a sponge."}], "detailed_task_instruction": ["Clean the desktop by first picking up the white wrapping paper and the blue package from the table. As you reach, bend your waist downward to adjust your posture, then place both items into the trash can. Next, bend over to pick up the sponge from the table. Use the scrub sponge to wipe the stains on the desk, and finally, place the sponge back on the table."]}
{"task_id": "task_3777", "episode_index": 38, "video_path": "task_3777/videos/chunk-000/{video_key}/episode_000038.mp4", "tasks": ["Clean the desktop."], "length": 1861, "action_config": [{"start_frame": 30, "end_frame": 154, "action_text": "pick up the green beverage bottle from the table", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 154, "end_frame": 272, "action_text": "pick up the yellow plastic bag from the table", "skill": "Pick", "language_memory": "The green beverage bottle has been picked up from the table."}, {"start_frame": 272, "end_frame": 478, "action_text": "as the height decreases, the waist bends downward", "skill": "AdjustPosture", "language_memory": "The robot has picked up the green beverage bottle and the yellow plastic bag from the table."}, {"start_frame": 478, "end_frame": 595, "action_text": "place the green beverage bottle into the trash can", "skill": "Place", "language_memory": "The robot has picked up the green beverage bottle and the yellow plastic bag from the table and adjusted its waist posture downward."}, {"start_frame": 595, "end_frame": 758, "action_text": "place the yellow plastic bag into the trash can", "skill": "Place", "language_memory": "The robot picked up the green beverage bottle and the yellow plastic bag from the table, adjusted its waist posture, and placed the green beverage bottle into the trash can."}, {"start_frame": 758, "end_frame": 891, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot has picked up a green beverage bottle and a yellow plastic bag from the table and placed both items into the trash can."}, {"start_frame": 891, "end_frame": 929, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot has cleared the table by picking up and discarding a green beverage bottle and a yellow plastic bag into the trash can, followed by a posture adjustment."}, {"start_frame": 929, "end_frame": 1024, "action_text": "pick up the sponge on the table", "skill": "Pick", "language_memory": "The robot has cleared the desktop by picking up and discarding a green beverage bottle and a yellow plastic bag into the trash can, followed by posture adjustments."}, {"start_frame": 1024, "end_frame": 1765, "action_text": "wipe the table with a sponge", "skill": "Wipe", "language_memory": "The robot has cleared the table by picking up and discarding a green beverage bottle and a yellow plastic bag into the trash can, and has picked up a sponge."}, {"start_frame": 1765, "end_frame": 1838, "action_text": "place the sponge on the table", "skill": "Place", "language_memory": "The robot cleared the table by picking up and discarding a green beverage bottle and a yellow plastic bag, then wiped the surface with a sponge."}], "detailed_task_instruction": ["Clean the desktop by first picking up the green beverage bottle and the yellow plastic bag from the table. As the height decreases, bend your waist downward to place both the green beverage bottle and the yellow plastic bag into the trash can. After adjusting your robot posture and bending over, pick up the sponge from the table. Wipe the table with the sponge to clean the surface, then place the sponge back on the table."]}
{"task_id": "task_3777", "episode_index": 39, "video_path": "task_3777/videos/chunk-000/{video_key}/episode_000039.mp4", "tasks": ["Clean the desktop."], "length": 1913, "action_config": [{"start_frame": 50, "end_frame": 148, "action_text": "pick up the green bottle on the table", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 148, "end_frame": 242, "action_text": "pick up the blue package on the table", "skill": "Pick", "language_memory": "The robot has picked up the green bottle from the table."}, {"start_frame": 242, "end_frame": 446, "action_text": "as the height decreases, the waist bends downward", "skill": "AdjustPosture", "language_memory": "The robot has picked up the green bottle and the blue package from the table."}, {"start_frame": 446, "end_frame": 547, "action_text": "place the green bottle into the trash can", "skill": "Place", "language_memory": "The robot has picked up the green bottle and the blue package from the table and adjusted its waist posture downward as the height decreased."}, {"start_frame": 547, "end_frame": 718, "action_text": "place the blue packaging bag into the trash can", "skill": "Place", "language_memory": "The robot picked up the green bottle and blue package from the table, adjusted its waist posture, and placed the green bottle into the trash can."}, {"start_frame": 718, "end_frame": 865, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot has picked up a green bottle and a blue package from the table and placed both items into the trash can."}, {"start_frame": 865, "end_frame": 992, "action_text": "pick up the sponge on the table", "skill": "Pick", "language_memory": "The robot has picked up a green bottle and a blue package, discarded both into the trash can, and adjusted its posture."}, {"start_frame": 992, "end_frame": 1815, "action_text": "wipe the stains on the desk with the scrub sponge", "skill": "Wipe", "language_memory": "The robot has cleared the table by picking up and discarding a green bottle, a blue package, and a sponge into the trash can, while adjusting its posture during the process."}, {"start_frame": 1815, "end_frame": 1912, "action_text": "place the sponge on the table", "skill": "Place", "language_memory": "The robot has cleared the table by discarding the green bottle and blue package into the trash can and wiping the desk surface with a sponge."}], "detailed_task_instruction": ["Clean the desktop by first picking up the green bottle and the blue package from the table. As the height decreases, bend the waist downward to place both the green bottle and the blue packaging bag into the trash can. Adjust the robot posture, then pick up the sponge from the table. Use the scrub sponge to wipe the stains on the desk, and finally place the sponge back on the table."]}
{"task_id": "task_3777", "episode_index": 40, "video_path": "task_3777/videos/chunk-000/{video_key}/episode_000040.mp4", "tasks": ["Clean the desktop."], "length": 1713, "action_config": [{"start_frame": 35, "end_frame": 119, "action_text": "pick up the crumpled paper on the table", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 119, "end_frame": 202, "action_text": "pick up the yellow plastic bag from the table", "skill": "Pick", "language_memory": "The robot has picked up the crumpled paper from the table."}, {"start_frame": 202, "end_frame": 406, "action_text": "while lowering the height, the waist bends downward", "skill": "AdjustPosture", "language_memory": "The robot has picked up the crumpled paper and the yellow plastic bag from the table."}, {"start_frame": 406, "end_frame": 504, "action_text": "place the paper ball into the trash can", "skill": "Place", "language_memory": "The robot has picked up the crumpled paper and the yellow plastic bag from the table."}, {"start_frame": 504, "end_frame": 644, "action_text": "place the yellow plastic bag into the trash can", "skill": "Place", "language_memory": "The robot has picked up a crumpled paper and a yellow plastic bag from the table, adjusted its waist height, and placed the paper ball into the trash can."}, {"start_frame": 644, "end_frame": 797, "action_text": "pick up the waist", "skill": "Pick", "language_memory": "The robot has cleared the desktop by picking up a crumpled paper and a yellow plastic bag, then disposing of both items into the trash can."}, {"start_frame": 797, "end_frame": 849, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot has cleared the desktop by picking up a crumpled paper and a yellow plastic bag, disposing of both items in the trash can, and returned to an upright waist position."}, {"start_frame": 849, "end_frame": 958, "action_text": "pick up the sponge on the table", "skill": "Pick", "language_memory": "The robot has cleared the desktop by picking up and discarding a crumpled paper and a yellow plastic bag into the trash can."}, {"start_frame": 958, "end_frame": 1530, "action_text": "wipe the stains on the desk with the scrub sponge", "skill": "Wipe", "language_memory": "The robot has cleared the table by picking up and discarding a crumpled paper ball and a yellow plastic bag into the trash can, and has picked up a sponge."}, {"start_frame": 1530, "end_frame": 1629, "action_text": "place the sponge on the table", "skill": "Place", "language_memory": "The robot has cleared the table by picking up and discarding a crumpled paper and a yellow plastic bag into the trash can, and has begun cleaning the desk surface by picking up a sponge and wiping stains."}], "detailed_task_instruction": ["Bend your waist downward to pick up the crumpled paper and the yellow plastic bag from the table, then place both items into the trash can. Straighten your waist and bend over again to pick up the sponge from the table. Use the sponge to wipe the stains on the desk, and finally, place the sponge back on the table."]}
{"task_id": "task_3777", "episode_index": 41, "video_path": "task_3777/videos/chunk-000/{video_key}/episode_000041.mp4", "tasks": ["Clean the desktop."], "length": 1780, "action_config": [{"start_frame": 35, "end_frame": 191, "action_text": "pick up the white wrapping paper from the table", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 191, "end_frame": 298, "action_text": "pick up the blue packaging bag from the table", "skill": "Pick", "language_memory": "The robot has picked up the white wrapping paper from the table."}, {"start_frame": 298, "end_frame": 398, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up the white wrapping paper and the blue packaging bag from the table."}, {"start_frame": 398, "end_frame": 505, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot has picked up the white wrapping paper and the blue packaging bag from the table and rotated its waist."}, {"start_frame": 505, "end_frame": 620, "action_text": "place the white wrapping paper into the trash bin", "skill": "Strike", "language_memory": "The robot has picked up the white wrapping paper and blue packaging bag from the table and adjusted its posture."}, {"start_frame": 620, "end_frame": 758, "action_text": "place the blue packaging bag into the trash can", "skill": "Place", "language_memory": "The robot picked up the white wrapping paper and blue packaging bag from the table, adjusted its posture, and placed the white wrapping paper into the trash bin."}, {"start_frame": 758, "end_frame": 910, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot picked up the white wrapping paper and blue packaging bag from the table, adjusted its posture, and placed both items into the trash bin."}, {"start_frame": 910, "end_frame": 969, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot picked up the white wrapping paper and blue packaging bag from the table, adjusted its posture, and discarded both items into the trash bin."}, {"start_frame": 969, "end_frame": 1071, "action_text": "pick up the sponge on the table", "skill": "Pick", "language_memory": "The robot has picked up the white wrapping paper and blue packaging bag from the table and placed both items into the trash bin."}, {"start_frame": 1071, "end_frame": 1649, "action_text": "wipe the stains on the desk with the scrub sponge", "skill": "Wipe", "language_memory": "The robot has cleared the table by picking up and discarding the white wrapping paper and blue packaging bag into the trash bin, and is currently holding a sponge."}, {"start_frame": 1649, "end_frame": 1731, "action_text": "place the sponge on the table", "skill": "Place", "language_memory": "The robot cleared the table by picking up and discarding the white wrapping paper and blue packaging bag, then wiped the desk stains using a sponge."}], "detailed_task_instruction": ["Clean the desktop by first picking up the white wrapping paper and the blue packaging bag from the table. Rotate your waist and adjust your posture to place both items into the trash bin. After adjusting your posture again, bend over to pick up the sponge from the table. Use the scrub sponge to wipe the stains on the desk, then place the sponge back on the table to complete the cleaning."]}
{"task_id": "task_3777", "episode_index": 42, "video_path": "task_3777/videos/chunk-000/{video_key}/episode_000042.mp4", "tasks": ["Clean the desktop."], "length": 1789, "action_config": [{"start_frame": 30, "end_frame": 130, "action_text": "pick up the yellow plastic bag from the table", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 130, "end_frame": 227, "action_text": "pick up the green beverage bottle", "skill": "Pick", "language_memory": "The robot has picked up the yellow plastic bag from the table."}, {"start_frame": 227, "end_frame": 330, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up the yellow plastic bag and the green beverage bottle from the table."}, {"start_frame": 330, "end_frame": 426, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot has picked up a yellow plastic bag and a green beverage bottle from the table and rotated its waist."}, {"start_frame": 426, "end_frame": 530, "action_text": "place the yellow plastic bag into the trash can", "skill": "Place", "language_memory": "The robot has picked up the yellow plastic bag and the green beverage bottle, rotated its waist, and adjusted its posture."}, {"start_frame": 530, "end_frame": 671, "action_text": "place the green beverage bottle into the trash bin", "skill": "Place", "language_memory": "The robot picked up the yellow plastic bag and green beverage bottle, adjusted its posture, and placed the bag into the trash can."}, {"start_frame": 671, "end_frame": 804, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot has picked up a yellow plastic bag and a green beverage bottle, adjusted its posture, and placed both items into the trash can."}, {"start_frame": 804, "end_frame": 863, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot has picked up a yellow plastic bag and a green beverage bottle, adjusted its posture, and placed both items into the trash can."}, {"start_frame": 863, "end_frame": 952, "action_text": "pick up the sponge on the table", "skill": "Pick", "language_memory": "The robot has picked up a yellow plastic bag and a green beverage bottle, disposed of both in the trash can, and adjusted its posture while bending over."}, {"start_frame": 952, "end_frame": 1732, "action_text": "wipe the table with a sponge", "skill": "Wipe", "language_memory": "The robot has picked up and discarded a yellow plastic bag and a green beverage bottle into the trash can, and is currently holding a sponge after adjusting its posture."}, {"start_frame": 1732, "end_frame": 1788, "action_text": "place the sponge on the table", "skill": "Place", "language_memory": "The robot has cleared the table by disposing of a yellow plastic bag and a green beverage bottle into the trash can and wiped the surface with a sponge."}], "detailed_task_instruction": ["Clean the desktop by first picking up the yellow plastic bag and the green beverage bottle from the table. Rotate your waist and adjust your posture to place both items into the trash can. Next, bend over, pick up the sponge from the table, and wipe the table surface. Finally, place the sponge back on the table to complete the cleaning process."]}
{"task_id": "task_3777", "episode_index": 43, "video_path": "task_3777/videos/chunk-000/{video_key}/episode_000043.mp4", "tasks": ["Clean the desktop."], "length": 1843, "action_config": [{"start_frame": 42, "end_frame": 122, "action_text": "pick up the paper ball from the table", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 122, "end_frame": 258, "action_text": "pick up the blue packaging bag from the table", "skill": "Pick", "language_memory": "The robot has picked up the paper ball from the table."}, {"start_frame": 258, "end_frame": 455, "action_text": "as the height decreases, the waist bends downward", "skill": "AdjustPosture", "language_memory": "The robot has picked up the paper ball and the blue packaging bag from the table."}, {"start_frame": 455, "end_frame": 576, "action_text": "place the paper ball into the trash can", "skill": "Place", "language_memory": "The robot has picked up the paper ball and the blue packaging bag from the table and adjusted its waist posture downward as height decreased."}, {"start_frame": 576, "end_frame": 729, "action_text": "place the blue packaging bag into the trash can", "skill": "Place", "language_memory": "The robot has picked up the paper ball and the blue packaging bag from the table, adjusted its waist posture, and placed the paper ball into the trash can."}, {"start_frame": 729, "end_frame": 880, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot has picked up a paper ball and a blue packaging bag from the table and placed both items into the trash can."}, {"start_frame": 880, "end_frame": 999, "action_text": "pick up the sponge on the table", "skill": "Pick", "language_memory": "The robot has cleared the desktop by picking up and disposing of a paper ball and a blue packaging bag into the trash can, followed by a posture adjustment."}, {"start_frame": 999, "end_frame": 1781, "action_text": "wipe the stains on the desk with the scrub sponge", "skill": "Wipe", "language_memory": "The robot has cleared the table of a paper ball, a blue packaging bag, and a sponge by placing them into the trash can, while adjusting its posture during the process."}, {"start_frame": 1781, "end_frame": 1842, "action_text": "place the sponge on the table", "skill": "Place", "language_memory": "The robot has cleared the table by disposing of a paper ball and a blue packaging bag into the trash can and wiped the desk surface with a sponge."}], "detailed_task_instruction": ["Clean the desktop by first picking up the paper ball and the blue packaging bag from the table. As the height decreases, bend the waist downward to place both items into the trash can. After adjusting the robot posture, pick up the sponge from the table and use it to wipe the stains on the desk. Finally, place the sponge back on the table."]}
{"task_id": "task_3777", "episode_index": 44, "video_path": "task_3777/videos/chunk-000/{video_key}/episode_000044.mp4", "tasks": ["Clean the desktop."], "length": 1802, "action_config": [{"start_frame": 54, "end_frame": 170, "action_text": "pick up the blue package on the table", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 170, "end_frame": 256, "action_text": "pick up the paper ball from the table", "skill": "Pick", "language_memory": "The robot has picked up the blue package from the table."}, {"start_frame": 256, "end_frame": 448, "action_text": "as the height decreases, the waist bends downward", "skill": "AdjustPosture", "language_memory": "The robot has picked up the blue package and the paper ball from the table."}, {"start_frame": 448, "end_frame": 573, "action_text": "place the blue packaging bag into the trash can", "skill": "Place", "language_memory": "The robot has picked up the blue package and the paper ball from the table and adjusted its waist posture as the height decreased."}, {"start_frame": 573, "end_frame": 716, "action_text": "place the paper ball into the trash can", "skill": "Place", "language_memory": "The robot has picked up the blue package and paper ball from the table, adjusted its waist posture, and placed the blue packaging bag into the trash can."}, {"start_frame": 716, "end_frame": 872, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot has picked up the blue package and paper ball from the table and placed both items into the trash can."}, {"start_frame": 872, "end_frame": 1020, "action_text": "pick up the sponge on the table", "skill": "Pick", "language_memory": "The robot has cleared the desktop by picking up and discarding a blue package and a paper ball into the trash can, followed by a posture adjustment."}, {"start_frame": 1020, "end_frame": 1650, "action_text": "wipe the stains on the desk with the scrub sponge", "skill": "Wipe", "language_memory": "The robot has cleared the table by picking up and discarding the blue package and paper ball into the trash can, adjusted its posture, and is currently holding the sponge."}, {"start_frame": 1650, "end_frame": 1749, "action_text": "place the sponge on the table", "skill": "Place", "language_memory": "The robot has cleared the table by disposing of the blue package and paper ball into the trash can and wiped the desk stains using a sponge."}], "detailed_task_instruction": ["Clean the desktop by first picking up the blue package and the paper ball from the table. As the height decreases, bend the waist downward to place both the blue packaging bag and the paper ball into the trash can. Adjust the robot posture, then pick up the sponge from the table. Use the scrub sponge to wipe the stains on the desk, and finally place the sponge back on the table."]}
{"task_id": "task_3777", "episode_index": 45, "video_path": "task_3777/videos/chunk-000/{video_key}/episode_000045.mp4", "tasks": ["Clean the desktop."], "length": 1751, "action_config": [{"start_frame": 50, "end_frame": 142, "action_text": "pick up the green beverage bottle", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 142, "end_frame": 253, "action_text": "pick up the blue package on the table", "skill": "Pick", "language_memory": "The robot has picked up the green beverage bottle."}, {"start_frame": 253, "end_frame": 450, "action_text": "as the height decreases, the waist bends downward", "skill": "AdjustPosture", "language_memory": "The robot has picked up the green beverage bottle and the blue package from the table."}, {"start_frame": 450, "end_frame": 575, "action_text": "place the green beverage bottle into the trash bin", "skill": "Place", "language_memory": "The robot has picked up the green beverage bottle and the blue package from the table, and adjusted its waist posture by bending downward as height decreased."}, {"start_frame": 575, "end_frame": 717, "action_text": "place the blue packaging bag into the trash bin", "skill": "Place", "language_memory": "The robot picked up the green beverage bottle and the blue package, adjusted its waist posture, and placed the green beverage bottle into the trash bin."}, {"start_frame": 717, "end_frame": 875, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot has picked up a green beverage bottle and a blue package, discarded both into the trash bin, and adjusted its waist posture."}, {"start_frame": 875, "end_frame": 1002, "action_text": "pick up the sponge on the table", "skill": "Pick", "language_memory": "The robot has picked up a green beverage bottle and a blue package, discarded both into the trash bin, and adjusted its posture."}, {"start_frame": 1002, "end_frame": 1575, "action_text": "wipe the stains on the desk with the scrub sponge", "skill": "Wipe", "language_memory": "The robot has picked up and discarded a green beverage bottle and a blue package into the trash bin, adjusted its posture, and is currently holding a sponge."}, {"start_frame": 1575, "end_frame": 1662, "action_text": "place the sponge on the table", "skill": "Place", "language_memory": "The robot has cleared the desktop by discarding a green beverage bottle and a blue package into the trash bin, then wiped remaining stains using a sponge."}], "detailed_task_instruction": ["Clean the desktop by first picking up the green beverage bottle and the blue package from the table. As the height decreases, bend the waist downward to place both items into the trash bin. Adjust the robot posture, then pick up the sponge from the table. Use the scrub sponge to wipe the stains on the desk, and finally place the sponge back on the table."]}
{"task_id": "task_3777", "episode_index": 46, "video_path": "task_3777/videos/chunk-000/{video_key}/episode_000046.mp4", "tasks": ["Clean the desktop."], "length": 1729, "action_config": [{"start_frame": 40, "end_frame": 158, "action_text": "pick up the green beverage bottle", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 158, "end_frame": 272, "action_text": "pick up the yellow plastic bag from the table", "skill": "Pick", "language_memory": "The robot has picked up the green beverage bottle."}, {"start_frame": 272, "end_frame": 490, "action_text": "as the height decreases, the waist bends downward", "skill": "AdjustPosture", "language_memory": "The robot has picked up the green beverage bottle and the yellow plastic bag from the table."}, {"start_frame": 490, "end_frame": 615, "action_text": "place the green beverage bottle into the trash bin", "skill": "Place", "language_memory": "The robot has picked up the green beverage bottle and the yellow plastic bag from the table and adjusted its waist posture downward as height decreased."}, {"start_frame": 615, "end_frame": 756, "action_text": "place the yellow plastic bag into the trash can", "skill": "Place", "language_memory": "The robot picked up the green beverage bottle and the yellow plastic bag, adjusted its waist posture, and placed the bottle into the trash bin."}, {"start_frame": 756, "end_frame": 924, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot picked up a green beverage bottle and a yellow plastic bag, then placed both items into the trash bin."}, {"start_frame": 924, "end_frame": 1046, "action_text": "pick up the sponge on the table", "skill": "Pick", "language_memory": "The robot has picked up a green beverage bottle and a yellow plastic bag, discarded both into the trash bin, and adjusted its posture."}, {"start_frame": 1046, "end_frame": 1589, "action_text": "wipe the stains on the desk with the scrub sponge", "skill": "Wipe", "language_memory": "The robot has cleared the green beverage bottle and yellow plastic bag from the table and disposed of them in the trash bin, while adjusting its posture and picking up a sponge."}, {"start_frame": 1589, "end_frame": 1670, "action_text": "place the sponge on the table", "skill": "Place", "language_memory": "The robot has cleared the desktop by discarding a green beverage bottle and a yellow plastic bag into the trash bin and wiping stains on the desk with a sponge."}], "detailed_task_instruction": ["Clean the desktop by first picking up the green beverage bottle and the yellow plastic bag from the table. As the height decreases, bend the waist downward to place both the green beverage bottle and the yellow plastic bag into the trash bin. Adjust the robot posture, then pick up the sponge from the table. Use the scrub sponge to wipe the stains on the desk, and finally place the sponge back on the table."]}
{"task_id": "task_3777", "episode_index": 47, "video_path": "task_3777/videos/chunk-000/{video_key}/episode_000047.mp4", "tasks": ["Clean the desktop."], "length": 1766, "action_config": [{"start_frame": 35, "end_frame": 156, "action_text": "pick up the white wrapping paper from the table", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 156, "end_frame": 262, "action_text": "pick up the green bottle on the table", "skill": "Pick", "language_memory": "The robot has picked up the white wrapping paper from the table."}, {"start_frame": 262, "end_frame": 465, "action_text": "as the height decreases, the waist bends downward", "skill": "AdjustPosture", "language_memory": "The robot has picked up the white wrapping paper and the green bottle from the table."}, {"start_frame": 465, "end_frame": 584, "action_text": "place the white wrapping paper into the trash can", "skill": "Place", "language_memory": "The robot has picked up the white wrapping paper and the green bottle from the table and adjusted its waist posture downward as height decreased."}, {"start_frame": 584, "end_frame": 743, "action_text": "place the green bottle into the trash can", "skill": "Place", "language_memory": "The robot picked up the white wrapping paper and green bottle from the table, adjusted its waist posture, and placed the wrapping paper into the trash can."}, {"start_frame": 743, "end_frame": 893, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot has picked up the white wrapping paper and green bottle from the table and discarded both into the trash can."}, {"start_frame": 893, "end_frame": 994, "action_text": "pick up the sponge on the table", "skill": "Pick", "language_memory": "The robot has cleared the table by picking up and discarding the white wrapping paper and green bottle into the trash can, followed by a posture adjustment."}, {"start_frame": 994, "end_frame": 1591, "action_text": "wipe the table with a sponge", "skill": "Wipe", "language_memory": "The robot has cleared the white wrapping paper and green bottle from the table into the trash can and is currently holding the sponge."}, {"start_frame": 1591, "end_frame": 1700, "action_text": "place the sponge on the table", "skill": "Place", "language_memory": "The robot cleared the table by picking up and discarding the white wrapping paper and green bottle into the trash can, then wiped the surface with a sponge."}], "detailed_task_instruction": ["Clean the desktop by first picking up the white wrapping paper and the green bottle from the table. As the height decreases, bend the waist downward to place both the white wrapping paper and the green bottle into the trash can. Adjust the robot posture, then pick up the sponge from the table. Wipe the table with the sponge to clean the surface, and finally place the sponge back on the table."]}
{"task_id": "task_3777", "episode_index": 48, "video_path": "task_3777/videos/chunk-000/{video_key}/episode_000048.mp4", "tasks": ["Clean the desktop."], "length": 1610, "action_config": [{"start_frame": 40, "end_frame": 124, "action_text": "pick up the blue package on the table", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 124, "end_frame": 212, "action_text": "pick up the green beverage bottle", "skill": "Pick", "language_memory": "The robot has picked up the blue package from the table."}, {"start_frame": 212, "end_frame": 405, "action_text": "as the height decreases, the waist bends downward", "skill": "AdjustPosture", "language_memory": "The robot has picked up the blue package and the green beverage bottle from the table."}, {"start_frame": 405, "end_frame": 511, "action_text": "place the blue packaging bag into the trash can", "skill": "Place", "language_memory": "The robot has picked up the blue package and the green beverage bottle from the table and adjusted its waist posture downward."}, {"start_frame": 511, "end_frame": 658, "action_text": "place the green beverage bottle into the trash bin", "skill": "Place", "language_memory": "The robot picked up the blue package and green beverage bottle, adjusted its waist posture, and placed the blue packaging bag into the trash can."}, {"start_frame": 658, "end_frame": 801, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot picked up the blue package and green beverage bottle, adjusted its waist posture, and discarded both items into the trash can."}, {"start_frame": 801, "end_frame": 865, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot has picked up a blue package and a green beverage bottle, discarded both into the trash can, and adjusted its posture."}, {"start_frame": 865, "end_frame": 977, "action_text": "pick up the sponge on the table", "skill": "Pick", "language_memory": "The robot has cleared the desktop by picking up and discarding a blue package and a green beverage bottle into the trash can, followed by posture adjustments."}, {"start_frame": 977, "end_frame": 1494, "action_text": "wipe the stains off the table with a sponge", "skill": "Wipe", "language_memory": "The robot has cleared the table by picking up and discarding a blue package, a green beverage bottle, and a sponge into the trash can, while adjusting its posture throughout the process."}, {"start_frame": 1494, "end_frame": 1582, "action_text": "place the sponge on the table", "skill": "Place", "language_memory": "The robot cleared the table by discarding a blue package and a green beverage bottle into the trash can and wiping the surface with a sponge."}], "detailed_task_instruction": ["Clean the desktop by first picking up the blue package and the green beverage bottle from the table. As you reach for these items, bend your waist downward to adjust your posture. Once both items are secured, place the blue packaging bag into the trash can, followed by the green beverage bottle into the trash bin. After disposing of the items, bend over again to pick up the sponge from the table. Use the sponge to wipe the stains off the table surface. Finally, place the sponge back on the table to complete the cleaning process."]}
{"task_id": "task_3777", "episode_index": 49, "video_path": "task_3777/videos/chunk-000/{video_key}/episode_000049.mp4", "tasks": ["Clean the desktop."], "length": 1737, "action_config": [{"start_frame": 40, "end_frame": 161, "action_text": "pick up the green bottle on the table", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 161, "end_frame": 284, "action_text": "pick up the yellow plastic bag from the table", "skill": "Pick", "language_memory": "The robot has picked up the green bottle from the table."}, {"start_frame": 284, "end_frame": 507, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot has picked up the green bottle and the yellow plastic bag from the table."}, {"start_frame": 507, "end_frame": 632, "action_text": "place the green bottle into the trash can", "skill": "Place", "language_memory": "The robot has picked up the green bottle and yellow plastic bag from the table and adjusted its posture."}, {"start_frame": 632, "end_frame": 759, "action_text": "place the yellow plastic bag into the trash bin", "skill": "Place", "language_memory": "The robot picked up the green bottle and yellow plastic bag from the table, adjusted its posture, and placed the green bottle into the trash can."}, {"start_frame": 759, "end_frame": 924, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot has picked up the green bottle and yellow plastic bag from the table, adjusted its posture, and disposed of both items into the trash can."}, {"start_frame": 924, "end_frame": 985, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot has picked up a green bottle and a yellow plastic bag from the table and placed both items into the trash can."}, {"start_frame": 985, "end_frame": 1104, "action_text": "pick up the sponge on the table", "skill": "Pick", "language_memory": "The robot has cleared the table by picking up and disposing of a green bottle and a yellow plastic bag into the trash can, and is currently in a bent-over posture."}, {"start_frame": 1104, "end_frame": 1626, "action_text": "wipe the stains on the desk with the scrub sponge", "skill": "Wipe", "language_memory": "The robot has cleared the table by picking up and discarding a green bottle and a yellow plastic bag, and has picked up a sponge."}, {"start_frame": 1626, "end_frame": 1718, "action_text": "place the sponge on the table", "skill": "Place", "language_memory": "The robot has cleared the table by disposing of the green bottle and yellow plastic bag into the trash can and wiped the desk stains using a sponge."}], "detailed_task_instruction": ["Clean the desktop by first picking up the green bottle and the yellow plastic bag from the table. After adjusting your posture, place both items into the trash can. Next, bend over to pick up the sponge from the table. Use the sponge to wipe the stains on the desk, then place the sponge back on the table once the cleaning is complete."]}
{"task_id": "task_3777", "episode_index": 50, "video_path": "task_3777/videos/chunk-000/{video_key}/episode_000050.mp4", "tasks": ["Clean the desktop."], "length": 1669, "action_config": [{"start_frame": 40, "end_frame": 160, "action_text": "pick up the white wrapping paper from the table", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 160, "end_frame": 275, "action_text": "pick up the paper ball from the table", "skill": "Pick", "language_memory": "The robot has picked up the white wrapping paper from the table."}, {"start_frame": 275, "end_frame": 470, "action_text": "as the height decreases, the waist bends downward", "skill": "AdjustPosture", "language_memory": "The robot has picked up the white wrapping paper and the paper ball from the table."}, {"start_frame": 470, "end_frame": 588, "action_text": "place the white wrapping paper into the trash bin", "skill": "Strike", "language_memory": "The robot has picked up the white wrapping paper and the paper ball from the table and adjusted its waist posture downward as height decreased."}, {"start_frame": 588, "end_frame": 727, "action_text": "place the paper ball into the trash can", "skill": "Place", "language_memory": "The robot picked up the white wrapping paper and the paper ball from the table, adjusted its waist posture, and placed the white wrapping paper into the trash bin."}, {"start_frame": 727, "end_frame": 878, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot has cleared the table by picking up the white wrapping paper and paper ball, adjusting its waist posture, and disposing of both items into the trash bin."}, {"start_frame": 878, "end_frame": 1001, "action_text": "pick up the sponge on the table", "skill": "Pick", "language_memory": "The robot has cleared the table by picking up and disposing of the white wrapping paper and paper ball into the trash bin, followed by a posture adjustment."}, {"start_frame": 1001, "end_frame": 1550, "action_text": "wipe the table with a sponge", "skill": "Wipe", "language_memory": "The robot has cleared the table of white wrapping paper, a paper ball, and a sponge by placing them into the trash bin, while adjusting its posture during the process."}, {"start_frame": 1550, "end_frame": 1615, "action_text": "place the sponge on the table", "skill": "Place", "language_memory": "The robot cleared the table by picking up and discarding the white wrapping paper and paper ball into the trash bin, then wiped the surface with a sponge."}], "detailed_task_instruction": ["Clean the desktop by first picking up the white wrapping paper and the paper ball from the table. As the height decreases, bend the waist downward to place both items into the trash bin. Adjust the robot posture, then pick up the sponge from the table. Wipe the table surface with the sponge to clean it, and finally place the sponge back on the table."]}
{"task_id": "task_3777", "episode_index": 51, "video_path": "task_3777/videos/chunk-000/{video_key}/episode_000051.mp4", "tasks": ["Clean the desktop."], "length": 1814, "action_config": [{"start_frame": 35, "end_frame": 121, "action_text": "pick up the green beverage bottle", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 121, "end_frame": 207, "action_text": "pick up the green bottle on the table", "skill": "Pick", "language_memory": "The robot has picked up the green beverage bottle."}, {"start_frame": 207, "end_frame": 421, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot has picked up the green beverage bottle from the table."}, {"start_frame": 421, "end_frame": 537, "action_text": "place the green drink bottle into the trash can", "skill": "Place", "language_memory": "The robot has picked up the green beverage bottle and adjusted its posture."}, {"start_frame": 537, "end_frame": 702, "action_text": "place the green bottle into the trash can", "skill": "Place", "language_memory": "The robot successfully picked up the green beverage bottle and placed it into the trash can."}, {"start_frame": 702, "end_frame": 860, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot has picked up the green beverage bottle and placed it into the trash can."}, {"start_frame": 860, "end_frame": 983, "action_text": "pick up the sponge on the table", "skill": "Pick", "language_memory": "The robot has successfully picked up the green beverage bottle and placed it into the trash can."}, {"start_frame": 983, "end_frame": 1704, "action_text": "wipe the table with a sponge", "skill": "Wipe", "language_memory": "The robot has picked up and discarded two green beverage bottles and is currently holding a sponge."}, {"start_frame": 1704, "end_frame": 1813, "action_text": "place the sponge on the table", "skill": "Place", "language_memory": "The robot has disposed of green beverage bottles and wiped the table with a sponge."}], "detailed_task_instruction": ["Clean the desktop by first adjusting your posture, then picking up the green beverage bottle from the table and placing it into the trash can. After adjusting your posture again, pick up the sponge from the table, wipe the table surface with it, and finally place the sponge back on the table."]}
{"task_id": "task_3777", "episode_index": 52, "video_path": "task_3777/videos/chunk-000/{video_key}/episode_000052.mp4", "tasks": ["Clean the desktop."], "length": 1719, "action_config": [{"start_frame": 40, "end_frame": 135, "action_text": "pick up the green beverage bottle", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 135, "end_frame": 225, "action_text": "pick up the yellow plastic bag from the table", "skill": "Pick", "language_memory": "The robot has picked up the green beverage bottle."}, {"start_frame": 225, "end_frame": 318, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up the green beverage bottle and the yellow plastic bag from the table."}, {"start_frame": 318, "end_frame": 420, "action_text": "as the height decreases, the waist bends downward", "skill": "AdjustPosture", "language_memory": "The robot has picked up the green beverage bottle and the yellow plastic bag, and rotated its waist."}, {"start_frame": 420, "end_frame": 522, "action_text": "place the green beverage bottle into the trash bin", "skill": "Place", "language_memory": "The robot has picked up the green beverage bottle and the yellow plastic bag from the table, rotated its waist, and bent downward as height decreased."}, {"start_frame": 522, "end_frame": 677, "action_text": "place the yellow plastic bag into the trash can", "skill": "Place", "language_memory": "The robot picked up the green beverage bottle and the yellow plastic bag, adjusted its posture by rotating the waist and bending downward, and placed the green beverage bottle into the trash bin."}, {"start_frame": 677, "end_frame": 812, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot picked up a green beverage bottle and a yellow plastic bag, then placed both items into the trash bin."}, {"start_frame": 812, "end_frame": 928, "action_text": "pick up the sponge on the table", "skill": "Pick", "language_memory": "The robot has picked up a green beverage bottle and a yellow plastic bag, discarded both into the trash bin, and adjusted its posture."}, {"start_frame": 928, "end_frame": 1619, "action_text": "wipe the stains on the desk with the scrub sponge", "skill": "Wipe", "language_memory": "The robot has picked up a green beverage bottle and a yellow plastic bag, disposed of both in the trash bin, and is currently holding a sponge."}, {"start_frame": 1619, "end_frame": 1689, "action_text": "place the sponge on the table", "skill": "Place", "language_memory": "The robot has cleared the desktop by discarding a green beverage bottle and a yellow plastic bag into the trash bin and wiping stains on the desk with a sponge."}], "detailed_task_instruction": ["Clean the desktop by first picking up the green beverage bottle and the yellow plastic bag from the table. Rotate your waist and bend downward as your height decreases to place both the green beverage bottle and the yellow plastic bag into the trash bin. Adjust your robot posture, then pick up the sponge from the table. Use the scrub sponge to wipe the stains on the desk, and finally, place the sponge back on the table."]}
{"task_id": "task_3777", "episode_index": 53, "video_path": "task_3777/videos/chunk-000/{video_key}/episode_000053.mp4", "tasks": ["Clean the desktop."], "length": 1620, "action_config": [{"start_frame": 35, "end_frame": 123, "action_text": "pick up the paper ball from the table", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 123, "end_frame": 216, "action_text": "pick up the blue packaging bag from the table", "skill": "Pick", "language_memory": "The robot has picked up the paper ball from the table."}, {"start_frame": 216, "end_frame": 421, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot has picked up the paper ball and the blue packaging bag from the table."}, {"start_frame": 421, "end_frame": 529, "action_text": "place the paper ball into the trash can", "skill": "Place", "language_memory": "The robot has picked up the paper ball and the blue packaging bag from the table and adjusted its posture."}, {"start_frame": 529, "end_frame": 672, "action_text": "place the blue packaging bag into the trash can", "skill": "Place", "language_memory": "The robot picked up the paper ball and blue packaging bag from the table, adjusted its posture, and placed the paper ball into the trash can."}, {"start_frame": 672, "end_frame": 809, "action_text": "the input action text describes a body movement (\"lift your waist while rotating it\") rather than a manipulation task involving an object to be picked up or placed. therefore, it cannot be rewritten into the specified \"pick up the x\" or \"place the x...\" format without inventing objects or actions, which violates the rules. no valid output sentence can be generated", "skill": "Pick", "language_memory": "The robot has cleared the desktop by picking up a paper ball and a blue packaging bag, adjusting its posture, and disposing of both items into the trash can."}, {"start_frame": 809, "end_frame": 864, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot has picked up the paper ball and the blue packaging bag from the table and placed both items into the trash can."}, {"start_frame": 864, "end_frame": 970, "action_text": "pick up the sponge on the table", "skill": "Pick", "language_memory": "The robot has cleared the table by picking up and discarding a paper ball and a blue packaging bag into the trash can."}, {"start_frame": 970, "end_frame": 1536, "action_text": "wipe the stains on the desk with the scrub sponge", "skill": "Wipe", "language_memory": "The robot has cleared the table by picking up and discarding a paper ball, a blue packaging bag, and a sponge into the trash can."}, {"start_frame": 1536, "end_frame": 1616, "action_text": "place the sponge scrub on the table", "skill": "Place", "language_memory": "The robot has cleared the table by picking up and discarding a paper ball and a blue packaging bag, and has begun cleaning the desk surface by picking up a sponge and wiping stains."}], "detailed_task_instruction": ["Clean the desktop by first picking up the paper ball and the blue packaging bag from the table, then placing both items into the trash can. Afterward, bend over to adjust your posture, pick up the sponge from the table, wipe the stains on the desk with it, and finally place the sponge back on the table."]}
{"task_id": "task_3777", "episode_index": 54, "video_path": "task_3777/videos/chunk-000/{video_key}/episode_000054.mp4", "tasks": ["Clean the desktop."], "length": 1981, "action_config": [{"start_frame": 100, "end_frame": 205, "action_text": "pick up the white wrapping paper from the table", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 205, "end_frame": 304, "action_text": "pick up the green beverage bottle", "skill": "Pick", "language_memory": "The robot has picked up the white wrapping paper from the table."}, {"start_frame": 304, "end_frame": 424, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up the white wrapping paper and the green beverage bottle from the table."}, {"start_frame": 424, "end_frame": 537, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot has picked up the white wrapping paper and the green beverage bottle and rotated its waist."}, {"start_frame": 537, "end_frame": 722, "action_text": "place the white wrapping paper into the trash can", "skill": "Place", "language_memory": "The robot has picked up the white wrapping paper and the green beverage bottle, rotated its waist, and adjusted its posture."}, {"start_frame": 722, "end_frame": 909, "action_text": "place the green beverage bottle into the trash bin", "skill": "Place", "language_memory": "The robot picked up the white wrapping paper and green beverage bottle, adjusted its posture, and placed the wrapping paper into the trash can."}, {"start_frame": 909, "end_frame": 1052, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot has picked up the white wrapping paper and green beverage bottle, adjusted its posture, and discarded both items into the trash can."}, {"start_frame": 1052, "end_frame": 1174, "action_text": "pick up the sponge on the table", "skill": "Pick", "language_memory": "The robot has picked up the white wrapping paper and green beverage bottle, adjusted its posture, and discarded both items into the trash can."}, {"start_frame": 1174, "end_frame": 1882, "action_text": "wipe the stains on the desk with the scrub sponge", "skill": "Wipe", "language_memory": "The robot has cleared the table of the white wrapping paper, green beverage bottle, and sponge, while adjusting its posture and rotating its waist during the process."}, {"start_frame": 1882, "end_frame": 1980, "action_text": "place the sponge scrub on the table", "skill": "Place", "language_memory": "The robot has cleared the table by discarding the white wrapping paper and green beverage bottle into the trash can and wiped the desk stains using a sponge."}], "detailed_task_instruction": ["Clean the desktop by first picking up the white wrapping paper and the green beverage bottle from the table. After rotating your waist and adjusting your posture, place both the wrapping paper and the beverage bottle into the trash can. Next, adjust your posture again, pick up the sponge from the table, and wipe the stains on the desk using the scrub sponge. Finally, place the sponge back on the table to complete the cleaning process."]}
{"task_id": "task_3777", "episode_index": 55, "video_path": "task_3777/videos/chunk-000/{video_key}/episode_000055.mp4", "tasks": ["Clean the desktop."], "length": 1824, "action_config": [{"start_frame": 35, "end_frame": 140, "action_text": "pick up the yellow plastic bag from the table", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 140, "end_frame": 225, "action_text": "pick up the small white receipt from the table", "skill": "Pick", "language_memory": "The robot has picked up the yellow plastic bag from the table."}, {"start_frame": 225, "end_frame": 318, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up the yellow plastic bag and the small white receipt from the table."}, {"start_frame": 318, "end_frame": 405, "action_text": "as the height decreases, the waist bends downward", "skill": "AdjustPosture", "language_memory": "The robot has picked up a yellow plastic bag and a small white receipt from the table and rotated its waist."}, {"start_frame": 405, "end_frame": 520, "action_text": "place the yellow plastic bag into the trash bin", "skill": "Place", "language_memory": "The robot has picked up a yellow plastic bag and a small white receipt from the table, rotated its waist, and bent downward as height decreased."}, {"start_frame": 520, "end_frame": 694, "action_text": "place the white receipt into the trash can", "skill": "Place", "language_memory": "The robot picked up a yellow plastic bag and a small white receipt from the table, adjusted its waist position, and placed the yellow plastic bag into the trash bin."}, {"start_frame": 694, "end_frame": 827, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot picked up a yellow plastic bag and a small white receipt from the table, adjusted its waist position, and discarded both items into the trash bin."}, {"start_frame": 827, "end_frame": 955, "action_text": "pick up the sponge on the table", "skill": "Pick", "language_memory": "The robot has cleared the table by picking up and discarding a yellow plastic bag and a small white receipt into the trash bin, followed by a posture adjustment."}, {"start_frame": 955, "end_frame": 1736, "action_text": "wipe the stains off the table with a sponge", "skill": "Wipe", "language_memory": "The robot has cleared the table of a yellow plastic bag, a small white receipt, and a sponge, and adjusted its posture."}, {"start_frame": 1736, "end_frame": 1823, "action_text": "place the sponge on the table", "skill": "Place", "language_memory": "The robot cleared the table by discarding a yellow plastic bag and a white receipt into the trash bin and wiping the surface with a sponge."}], "detailed_task_instruction": ["Clean the desktop by first picking up the yellow plastic bag and the small white receipt from the table. Rotate your waist and bend downward as your height decreases to place both the yellow plastic bag and the white receipt into the trash bin. Adjust your robot posture, then pick up the sponge from the table. Wipe the stains off the table using the sponge, and finally, place the sponge back on the table."]}
{"task_id": "task_3777", "episode_index": 56, "video_path": "task_3777/videos/chunk-000/{video_key}/episode_000056.mp4", "tasks": ["Clean the desktop."], "length": 1637, "action_config": [{"start_frame": 30, "end_frame": 136, "action_text": "pick up the yellow plastic bag from the table", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 136, "end_frame": 258, "action_text": "pick up the white wrapping paper from the table", "skill": "Pick", "language_memory": "The robot has picked up the yellow plastic bag from the table."}, {"start_frame": 258, "end_frame": 460, "action_text": "height decreases while the waist bends downward", "skill": "AdjustPosture", "language_memory": "The robot has picked up the yellow plastic bag and the white wrapping paper from the table."}, {"start_frame": 460, "end_frame": 585, "action_text": "place the yellow plastic bag into the trash bin", "skill": "Place", "language_memory": "The robot has picked up the yellow plastic bag and white wrapping paper from the table."}, {"start_frame": 585, "end_frame": 729, "action_text": "place the white wrapping paper into the trash can", "skill": "Place", "language_memory": "The robot picked up the yellow plastic bag and white wrapping paper from the table, adjusted its waist height by bending downward, and placed the yellow plastic bag into the trash bin."}, {"start_frame": 729, "end_frame": 874, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot picked up a yellow plastic bag and white wrapping paper from the table, bent its waist, and discarded both items into the trash bin."}, {"start_frame": 874, "end_frame": 976, "action_text": "pick up the sponge on the table", "skill": "Pick", "language_memory": "The robot picked up a yellow plastic bag and white wrapping paper from the table, discarded both into the trash bin, and adjusted its posture."}, {"start_frame": 976, "end_frame": 1564, "action_text": "wipe the stains off the table with a sponge", "skill": "Wipe", "language_memory": "The robot has cleared the table of a yellow plastic bag, white wrapping paper, and a sponge, and adjusted its posture."}, {"start_frame": 1564, "end_frame": 1636, "action_text": "place the sponge on the table", "skill": "Place", "language_memory": "The robot cleared the table by discarding a yellow plastic bag and white wrapping paper into the trash bin, then wiped remaining stains using a sponge."}], "detailed_task_instruction": ["Bend down to pick up the yellow plastic bag and the white wrapping paper from the table, then place both items into the trash bin. Adjust your posture, pick up the sponge from the table, wipe the stains off the table surface, and finally place the sponge back on the table."]}
{"task_id": "task_3777", "episode_index": 57, "video_path": "task_3777/videos/chunk-000/{video_key}/episode_000057.mp4", "tasks": ["Clean the desktop."], "length": 1857, "action_config": [{"start_frame": 30, "end_frame": 114, "action_text": "pick up the green beverage bottle", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 114, "end_frame": 219, "action_text": "pick up the blue packaging bag from the table", "skill": "Pick", "language_memory": "The robot has picked up the green beverage bottle."}, {"start_frame": 219, "end_frame": 415, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot has picked up the green beverage bottle and the blue packaging bag from the table."}, {"start_frame": 415, "end_frame": 547, "action_text": "place the green beverage bottle into the trash bin", "skill": "Place", "language_memory": "The robot has picked up the green beverage bottle and the blue packaging bag, and adjusted its posture."}, {"start_frame": 547, "end_frame": 702, "action_text": "place the blue packaging bag into the trash can", "skill": "Place", "language_memory": "The robot picked up the green beverage bottle and the blue packaging bag, adjusted its posture, and placed the green beverage bottle into the trash bin."}, {"start_frame": 702, "end_frame": 851, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot has picked up a green beverage bottle and a blue packaging bag, adjusted its posture, and discarded both items into the trash bin."}, {"start_frame": 851, "end_frame": 898, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot has picked up a green beverage bottle and a blue packaging bag, adjusted its posture, and discarded both items into the trash bin."}, {"start_frame": 898, "end_frame": 1008, "action_text": "pick up the sponge on the table", "skill": "Pick", "language_memory": "The robot has picked up and discarded a green beverage bottle and a blue packaging bag into the trash bin, adjusted its posture, and is currently bending over."}, {"start_frame": 1008, "end_frame": 1801, "action_text": "wipe the stains on the desk with the scrub sponge", "skill": "Wipe", "language_memory": "The robot has cleared the desktop by picking up and discarding a green beverage bottle and a blue packaging bag into the trash bin, and has picked up a sponge from the table."}, {"start_frame": 1801, "end_frame": 1856, "action_text": "place the sponge on the table", "skill": "Place", "language_memory": "The robot has cleared the desktop by disposing of a green beverage bottle and a blue packaging bag into the trash bin, and wiped stains on the desk using a sponge."}], "detailed_task_instruction": ["Clean the desktop by first adjusting your posture, then picking up the green beverage bottle and the blue packaging bag from the table. Place both items into the trash bin. Adjust your posture again, bend over, pick up the sponge from the table, and wipe the stains on the desk with the scrub sponge. Finally, place the sponge back on the table."]}
{"task_id": "task_3777", "episode_index": 58, "video_path": "task_3777/videos/chunk-000/{video_key}/episode_000058.mp4", "tasks": ["Clean the desktop."], "length": 1777, "action_config": [{"start_frame": 20, "end_frame": 105, "action_text": "pick up the white bottle on the table", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 105, "end_frame": 211, "action_text": "pick up the yellow plastic bag from the table", "skill": "Pick", "language_memory": "The robot has picked up the white bottle from the table."}, {"start_frame": 211, "end_frame": 408, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot has picked up the white bottle and the yellow plastic bag from the table."}, {"start_frame": 408, "end_frame": 525, "action_text": "place the white bottle into the trash can", "skill": "Place", "language_memory": "The robot has picked up the white bottle and the yellow plastic bag from the table and adjusted its posture."}, {"start_frame": 525, "end_frame": 665, "action_text": "place the yellow plastic bag into the trash can", "skill": "Place", "language_memory": "The robot picked up the white bottle and yellow plastic bag from the table, adjusted its posture, and placed the white bottle into the trash can."}, {"start_frame": 665, "end_frame": 805, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot has picked up a white bottle and a yellow plastic bag from the table, adjusted its posture, and discarded both items into the trash can."}, {"start_frame": 805, "end_frame": 857, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot has picked up a white bottle and a yellow plastic bag from the table and placed both items into the trash can."}, {"start_frame": 857, "end_frame": 960, "action_text": "pick up the sponge on the table", "skill": "Pick", "language_memory": "The robot has cleared the desktop by picking up and discarding a white bottle and a yellow plastic bag into the trash can, and is currently in a bent-over posture."}, {"start_frame": 960, "end_frame": 1692, "action_text": "wipe the stains off the table with a sponge", "skill": "Wipe", "language_memory": "The robot has cleared the table by picking up and discarding a white bottle and a yellow plastic bag into the trash can, and has picked up a sponge."}, {"start_frame": 1692, "end_frame": 1776, "action_text": "place the sponge on the table", "skill": "Place", "language_memory": "The robot has cleared the table by disposing of a white bottle and a yellow plastic bag, then wiped the surface clean using a sponge."}], "detailed_task_instruction": ["Clean the desktop by first picking up the white bottle and the yellow plastic bag from the table, then adjusting the robot posture to place both items into the trash can. After adjusting the posture again, bend over to pick up the sponge from the table. Use the sponge to wipe the stains off the table, and finally place the sponge back on the table."]}
{"task_id": "task_3777", "episode_index": 59, "video_path": "task_3777/videos/chunk-000/{video_key}/episode_000059.mp4", "tasks": ["Clean the desktop."], "length": 1951, "action_config": [{"start_frame": 30, "end_frame": 110, "action_text": "pick up the green beverage bottle", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 110, "end_frame": 220, "action_text": "pick up the blue package on the table", "skill": "Pick", "language_memory": "The robot has picked up the green beverage bottle."}, {"start_frame": 220, "end_frame": 418, "action_text": "as the height decreases, the waist bends downward", "skill": "AdjustPosture", "language_memory": "The robot has picked up the green beverage bottle and the blue package from the table."}, {"start_frame": 418, "end_frame": 540, "action_text": "place the green beverage bottle into the trash bin", "skill": "Place", "language_memory": "The robot has picked up the green beverage bottle and the blue package from the table, and adjusted its waist posture by bending downward as height decreased."}, {"start_frame": 540, "end_frame": 690, "action_text": "place the blue packaging bag into the trash can", "skill": "Place", "language_memory": "The robot picked up the green beverage bottle and the blue package, adjusted its waist posture, and placed the green beverage bottle into the trash bin."}, {"start_frame": 690, "end_frame": 843, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot has picked up a green beverage bottle and a blue package, then placed both items into the trash bin."}, {"start_frame": 843, "end_frame": 900, "action_text": "bend over", "skill": "AdjustPosture", "language_memory": "The robot has picked up a green beverage bottle and a blue package, disposed of both items in the trash bin, and adjusted its posture."}, {"start_frame": 900, "end_frame": 984, "action_text": "pick up the sponge on the table", "skill": "Pick", "language_memory": "The robot has picked up a green beverage bottle and a blue package, disposed of both items in the trash bin, and adjusted its posture."}, {"start_frame": 984, "end_frame": 1862, "action_text": "wipe the stains on the desk with the scrub sponge", "skill": "Wipe", "language_memory": "The robot has cleared the desktop by picking up and discarding a green beverage bottle, a blue package, and a sponge into the trash bin, while adjusting its posture throughout the process."}, {"start_frame": 1862, "end_frame": 1942, "action_text": "place the sponge on the table", "skill": "Place", "language_memory": "The robot has cleared the desktop by discarding a green beverage bottle and a blue package into the trash bin, then wiped remaining stains using a sponge."}], "detailed_task_instruction": ["Clean the desktop by first picking up the green beverage bottle and the blue package from the table. As you reach for these items, bend your waist downward to adjust your posture, then place both the green beverage bottle and the blue packaging bag into the trash bin. After disposing of the items, bend over again to pick up the sponge from the table. Use the scrub sponge to wipe the stains on the desk, and finally, place the sponge back on the table once the cleaning is complete."]}
{"task_id": "task_3777", "episode_index": 60, "video_path": "task_3777/videos/chunk-000/{video_key}/episode_000060.mp4", "tasks": ["Clean the desktop."], "length": 2153, "action_config": [{"start_frame": 30, "end_frame": 111, "action_text": "pick up the crumpled paper ball from the table", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 111, "end_frame": 191, "action_text": "pick up the green bottle on the table", "skill": "Pick", "language_memory": "The robot has picked up the crumpled paper ball from the table."}, {"start_frame": 191, "end_frame": 369, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot has picked up the crumpled paper ball and the green bottle from the table."}, {"start_frame": 369, "end_frame": 471, "action_text": "place the paper ball into the trash can", "skill": "Place", "language_memory": "The robot has picked up a crumpled paper ball and a green bottle from the table and adjusted its posture."}, {"start_frame": 471, "end_frame": 637, "action_text": "place the green bottle into the trash can", "skill": "Place", "language_memory": "The robot has picked up a crumpled paper ball and a green bottle from the table, adjusted its posture, and placed the paper ball into the trash can."}, {"start_frame": 637, "end_frame": 775, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot has cleared the desktop by picking up a crumpled paper ball and a green bottle, adjusting its posture, and disposing of both items into the trash can."}, {"start_frame": 775, "end_frame": 879, "action_text": "pick up the sponge on the table", "skill": "Pick", "language_memory": "The robot has cleared the desktop by picking up a crumpled paper ball and a green bottle, adjusting its posture, and disposing of both items into the trash can."}, {"start_frame": 879, "end_frame": 2019, "action_text": "wipe the table with a sponge", "skill": "Wipe", "language_memory": "The robot has cleared the table of a crumpled paper ball, a green bottle, and a sponge by placing them into the trash can, with the sponge currently being picked up."}, {"start_frame": 2019, "end_frame": 2112, "action_text": "place the sponge on the table", "skill": "Place", "language_memory": "The robot has cleared the table by picking up and discarding a crumpled paper ball and a green bottle into the trash can, and wiped the surface with a sponge."}], "detailed_task_instruction": ["Clean the desktop by first picking up the crumpled paper ball and the green bottle from the table, then placing both items into the trash can. After adjusting the robot posture, pick up the sponge from the table and wipe the table surface with it. Finally, place the sponge back on the table to complete the cleaning process."]}
{"task_id": "task_3777", "episode_index": 61, "video_path": "task_3777/videos/chunk-000/{video_key}/episode_000061.mp4", "tasks": ["Clean the desktop."], "length": 1711, "action_config": [{"start_frame": 45, "end_frame": 151, "action_text": "pick up the blue package on the table", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 151, "end_frame": 258, "action_text": "pick up the white wrapping paper from the table", "skill": "Pick", "language_memory": "The robot has picked up the blue package from the table."}, {"start_frame": 258, "end_frame": 357, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up the blue package and the white wrapping paper from the table."}, {"start_frame": 357, "end_frame": 460, "action_text": "as the height decreases, the waist bends downward", "skill": "AdjustPosture", "language_memory": "The robot has picked up the blue package and white wrapping paper from the table and rotated its waist."}, {"start_frame": 460, "end_frame": 575, "action_text": "place the blue packaging bag into the trash can", "skill": "Place", "language_memory": "The robot has picked up the blue package and white wrapping paper from the table and adjusted its waist orientation and height."}, {"start_frame": 575, "end_frame": 719, "action_text": "place the white wrapping paper into the trash can", "skill": "Place", "language_memory": "The robot picked up the blue package and white wrapping paper from the table, adjusted its waist posture, and placed the blue packaging bag into the trash can."}, {"start_frame": 719, "end_frame": 881, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot picked up the blue package and white wrapping paper from the table, adjusted its waist posture, and discarded both items into the trash can."}, {"start_frame": 881, "end_frame": 1011, "action_text": "pick up the sponge on the table", "skill": "Pick", "language_memory": "The robot has picked up the blue package and white wrapping paper, discarded both into the trash can, and adjusted its posture."}, {"start_frame": 1011, "end_frame": 1601, "action_text": "wipe the stains on the desk with the scrub sponge", "skill": "Wipe", "language_memory": "The robot has cleared the table of the blue package, white wrapping paper, and sponge, and adjusted its posture."}, {"start_frame": 1601, "end_frame": 1691, "action_text": "place the sponge on the table", "skill": "Place", "language_memory": "The robot has cleared the table by discarding the blue package and white wrapping paper into the trash can and wiped the desk stains using a sponge."}], "detailed_task_instruction": ["Clean the desktop by first picking up the blue package and the white wrapping paper from the table. Adjust your posture by rotating your waist and bending downward as your height decreases to place both items into the trash can. After adjusting your robot posture, pick up the sponge from the table and wipe the stains on the desk with the scrub sponge. Finally, place the sponge back on the table to complete the cleaning process."]}
{"task_id": "task_3777", "episode_index": 62, "video_path": "task_3777/videos/chunk-000/{video_key}/episode_000062.mp4", "tasks": ["Clean the desktop."], "length": 1587, "action_config": [{"start_frame": 25, "end_frame": 167, "action_text": "pick up the white wrapping paper from the table", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 167, "end_frame": 270, "action_text": "pick up the yellow plastic bag from the table", "skill": "Pick", "language_memory": "The robot has picked up the white wrapping paper from the table."}, {"start_frame": 270, "end_frame": 455, "action_text": "as the height decreases, the waist bends downward", "skill": "AdjustPosture", "language_memory": "The robot has picked up the white wrapping paper and the yellow plastic bag from the table."}, {"start_frame": 455, "end_frame": 577, "action_text": "place the white wrapping paper into the trash can", "skill": "Place", "language_memory": "The robot has picked up the white wrapping paper and the yellow plastic bag from the table and adjusted its waist posture downward as height decreased."}, {"start_frame": 577, "end_frame": 711, "action_text": "place the yellow plastic bag into the trash can", "skill": "Place", "language_memory": "The robot picked up the white wrapping paper and yellow plastic bag from the table, adjusted its waist height, and placed the white wrapping paper into the trash can."}, {"start_frame": 711, "end_frame": 882, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot picked up the white wrapping paper and yellow plastic bag from the table and placed both items into the trash can."}, {"start_frame": 882, "end_frame": 992, "action_text": "pick up the sponge on the table", "skill": "Pick", "language_memory": "The robot picked up the white wrapping paper and yellow plastic bag from the table, discarded both into the trash can, and adjusted its posture."}, {"start_frame": 992, "end_frame": 1468, "action_text": "wipe the stains on the desk with the scrub sponge", "skill": "Wipe", "language_memory": "The robot cleared the table by picking up and discarding the white wrapping paper and yellow plastic bag into the trash can, adjusted its posture, and picked up the sponge."}, {"start_frame": 1468, "end_frame": 1537, "action_text": "place the scrub sponge on the desk", "skill": "Place", "language_memory": "The robot cleared the table by discarding the white wrapping paper and yellow plastic bag into the trash can and wiped the desk stains using a sponge."}], "detailed_task_instruction": ["Clean the desktop by first picking up the white wrapping paper and the yellow plastic bag from the table. As the height decreases, bend the waist downward to place both items into the trash can. Adjust the robot posture, then pick up the sponge from the table. Use the scrub sponge to wipe the stains on the desk, and finally place the scrub sponge back on the desk."]}
{"task_id": "task_3777", "episode_index": 63, "video_path": "task_3777/videos/chunk-000/{video_key}/episode_000063.mp4", "tasks": ["Clean the desktop."], "length": 1597, "action_config": [{"start_frame": 30, "end_frame": 144, "action_text": "pick up the green beverage bottle", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 144, "end_frame": 278, "action_text": "pick up the blue package on the table", "skill": "Pick", "language_memory": "The robot has picked up the green beverage bottle."}, {"start_frame": 278, "end_frame": 372, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up the green beverage bottle and the blue package from the table."}, {"start_frame": 372, "end_frame": 474, "action_text": "as the height decreases, the waist bends downward", "skill": "AdjustPosture", "language_memory": "The robot has picked up the green beverage bottle and the blue package, and rotated its waist."}, {"start_frame": 474, "end_frame": 570, "action_text": "place the green beverage bottle into the trash bin", "skill": "Place", "language_memory": "The robot has picked up the green beverage bottle and the blue package, rotated its waist, and bent downward as height decreased."}, {"start_frame": 570, "end_frame": 728, "action_text": "place the blue packaging bag into the trash can", "skill": "Place", "language_memory": "The robot picked up the green beverage bottle and the blue package, adjusted its waist posture, and placed the green beverage bottle into the trash bin."}, {"start_frame": 728, "end_frame": 873, "action_text": "adjust the robot posture", "skill": "AdjustPosture", "language_memory": "The robot picked up a green beverage bottle and a blue package, then placed both items into the trash bin."}, {"start_frame": 873, "end_frame": 980, "action_text": "pick up the sponge on the table", "skill": "Pick", "language_memory": "The robot has picked up a green beverage bottle and a blue package, discarded both into the trash bin, and adjusted its posture."}, {"start_frame": 980, "end_frame": 1520, "action_text": "wipe the stains on the desk with the scrub sponge", "skill": "Wipe", "language_memory": "The robot has picked up a green beverage bottle and a blue package, discarded both into the trash bin, and is currently holding a sponge after adjusting its posture."}, {"start_frame": 1520, "end_frame": 1596, "action_text": "place the sponge scrub on the table", "skill": "Place", "language_memory": "The robot has cleared the desktop by discarding a green beverage bottle and a blue package into the trash bin and wiping stains on the desk with a sponge."}], "detailed_task_instruction": ["Clean the desktop by first picking up the green beverage bottle and the blue package from the table. Rotate your waist and bend downward as your height decreases to place both items into the trash bin. Adjust your posture, then pick up the sponge from the table. Use the scrub sponge to wipe the stains on the desk, and finally, place the sponge back on the table."]}
{"task_id": "task_3777", "episode_index": 64, "video_path": "task_3777/videos/chunk-000/{video_key}/episode_000064.mp4", "tasks": ["Clean the desktop."], "length": 2360, "action_config": [{"start_frame": 0, "end_frame": 257, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 257, "end_frame": 351, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped the flyers."}, {"start_frame": 351, "end_frame": 475, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has clamped flyers and handed them over to the customer."}, {"start_frame": 475, "end_frame": 582, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot clamped flyers and handed one to the customer."}, {"start_frame": 582, "end_frame": 729, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has clamped flyers and handed them over to the customer multiple times."}, {"start_frame": 729, "end_frame": 816, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to the customer multiple times."}, {"start_frame": 816, "end_frame": 1194, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has handed over flyers to the customer multiple times."}, {"start_frame": 1194, "end_frame": 1256, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot repeatedly clamped flyers and handed them to the customer."}, {"start_frame": 1256, "end_frame": 1350, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has handed over flyers to the customer multiple times."}, {"start_frame": 1350, "end_frame": 1427, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has handed over flyers to the customer multiple times."}, {"start_frame": 1427, "end_frame": 1643, "action_text": "clamp the flyer", "skill": "Clamp", "language_memory": "The robot has handed over flyers to the customer multiple times."}, {"start_frame": 1643, "end_frame": 1723, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has handed over flyers to the customer multiple times."}, {"start_frame": 1723, "end_frame": 2245, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot repeatedly clamped flyers and handed them to the customer."}, {"start_frame": 2245, "end_frame": 2348, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot repeatedly clamped flyers and handed them over to the customer multiple times."}], "detailed_task_instruction": ["Clamp and hand over multiple flyers to the customer in a repeating sequence, ensuring each flyer is secured before being transferred. After completing the repeated cycles of clamping and handing over, clamp the final single flyer and hand it over to the customer."]}
{"task_id": "task_3777", "episode_index": 65, "video_path": "task_3777/videos/chunk-000/{video_key}/episode_000065.mp4", "tasks": ["Clean the desktop."], "length": 2113, "action_config": [{"start_frame": 0, "end_frame": 292, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 292, "end_frame": 372, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped the flyers."}, {"start_frame": 372, "end_frame": 518, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has clamped flyers and handed them over to the customer."}, {"start_frame": 518, "end_frame": 594, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot clamped flyers and handed one to the customer."}, {"start_frame": 594, "end_frame": 732, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has clamped flyers and handed them over to the customer multiple times."}, {"start_frame": 732, "end_frame": 810, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to the customer multiple times."}, {"start_frame": 810, "end_frame": 1019, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has handed over flyers to the customer multiple times."}, {"start_frame": 1019, "end_frame": 1094, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot repeatedly clamped flyers and handed them to the customer."}, {"start_frame": 1094, "end_frame": 1461, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has handed over flyers to the customer multiple times."}, {"start_frame": 1461, "end_frame": 1526, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has handed over flyers to the customer multiple times."}, {"start_frame": 1526, "end_frame": 1647, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has handed over flyers to the customer multiple times."}, {"start_frame": 1647, "end_frame": 1729, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot repeatedly clamped flyers and handed them to the customer."}, {"start_frame": 1729, "end_frame": 2011, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot repeatedly clamped flyers and handed them over to the customer multiple times."}, {"start_frame": 2011, "end_frame": 2100, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot repeatedly clamped flyers and handed them over to the customer multiple times."}], "detailed_task_instruction": ["The provided subtasks describe a repetitive sequence of clamping flyers and handing them to a customer, which contradicts the original goal of cleaning a desktop. As per the mandatory rule to use only the provided evidence and not invent unseen objects or operations, it is impossible to rewrite the instruction to reflect \"cleaning a desktop\" using these specific steps. Consequently, no valid detailed task instruction can be generated that adheres to all constraints."]}
{"task_id": "task_3777", "episode_index": 66, "video_path": "task_3777/videos/chunk-000/{video_key}/episode_000066.mp4", "tasks": ["Clean the desktop."], "length": 1912, "action_config": [{"start_frame": 0, "end_frame": 210, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 210, "end_frame": 276, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped the flyers."}, {"start_frame": 276, "end_frame": 408, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has clamped flyers and handed them over to the customer."}, {"start_frame": 408, "end_frame": 482, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot clamped flyers and handed one to the customer."}, {"start_frame": 482, "end_frame": 643, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has clamped flyers and handed them over to the customer multiple times."}, {"start_frame": 643, "end_frame": 715, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to the customer multiple times."}, {"start_frame": 715, "end_frame": 925, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has handed over flyers to the customer multiple times."}, {"start_frame": 925, "end_frame": 996, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot repeatedly clamped flyers and handed them to the customer."}, {"start_frame": 996, "end_frame": 1097, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has handed over flyers to the customer multiple times."}, {"start_frame": 1097, "end_frame": 1173, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has handed over flyers to the customer multiple times."}, {"start_frame": 1173, "end_frame": 1586, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has handed over flyers to the customer multiple times."}, {"start_frame": 1586, "end_frame": 1659, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot repeatedly clamped flyers and handed them to the customer."}, {"start_frame": 1659, "end_frame": 1810, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot repeatedly clamped flyers and handed them over to the customer multiple times."}, {"start_frame": 1810, "end_frame": 1895, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot repeatedly clamped flyers and handed them over to the customer multiple times."}], "detailed_task_instruction": ["The provided subtasks describe a repetitive sequence of clamping flyers and handing them to a customer, which contradicts the original goal of cleaning a desktop. As per the mandatory rule to use only the provided evidence and not invent unseen objects or operations, it is impossible to rewrite the instruction to reflect \"cleaning a desktop\" using these specific steps. Consequently, no valid detailed task instruction can be generated that adheres to all constraints."]}
{"task_id": "task_3777", "episode_index": 67, "video_path": "task_3777/videos/chunk-000/{video_key}/episode_000067.mp4", "tasks": ["Clean the desktop."], "length": 1967, "action_config": [{"start_frame": 0, "end_frame": 207, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 207, "end_frame": 273, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped the flyers."}, {"start_frame": 273, "end_frame": 414, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has clamped flyers and handed them over to the customer."}, {"start_frame": 414, "end_frame": 489, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot clamped flyers and handed one to the customer."}, {"start_frame": 489, "end_frame": 700, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has clamped flyers and handed them over to the customer multiple times."}, {"start_frame": 700, "end_frame": 773, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to the customer multiple times."}, {"start_frame": 773, "end_frame": 891, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has handed over flyers to the customer multiple times."}, {"start_frame": 891, "end_frame": 970, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot repeatedly clamped flyers and handed them to the customer."}, {"start_frame": 970, "end_frame": 1258, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has handed over flyers to the customer multiple times."}, {"start_frame": 1258, "end_frame": 1339, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has handed over flyers to the customer multiple times."}, {"start_frame": 1339, "end_frame": 1509, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has handed over flyers to the customer multiple times."}, {"start_frame": 1509, "end_frame": 1584, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot repeatedly clamped flyers and handed them to the customer."}, {"start_frame": 1584, "end_frame": 1685, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot repeatedly clamped flyers and handed them over to the customer multiple times."}, {"start_frame": 1685, "end_frame": 1754, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot repeatedly clamped flyers and handed them over to the customer multiple times."}, {"start_frame": 1754, "end_frame": 1867, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot repeatedly clamped flyers and handed them over to the customer multiple times."}, {"start_frame": 1867, "end_frame": 1966, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot repeatedly clamped flyers and handed them over to the customer."}], "detailed_task_instruction": ["The provided subtasks describe a repetitive sequence of clamping flyers and handing them to a customer, which contradicts the original goal of cleaning a desktop. As per the mandatory rules, I cannot invent unseen objects, containers, rooms, states, or extra operations to align the subtasks with the original goal. Since the subtasks do not contain any information regarding cleaning, dusting, or organizing a desktop, and inventing such details would violate the rule to use only provided evidence, it is impossible to generate a detailed task instruction that both preserves the true goal of cleaning the desktop and strictly adheres to the provided subtask list. Therefore, no valid output can be produced under the given constraints."]}
{"task_id": "task_3777", "episode_index": 68, "video_path": "task_3777/videos/chunk-000/{video_key}/episode_000068.mp4", "tasks": ["Clean the desktop."], "length": 2081, "action_config": [{"start_frame": 0, "end_frame": 193, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 193, "end_frame": 270, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped the flyers."}, {"start_frame": 270, "end_frame": 429, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has clamped flyers and handed them over to the customer."}, {"start_frame": 429, "end_frame": 505, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot clamped flyers and handed one to the customer."}, {"start_frame": 505, "end_frame": 644, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has clamped flyers and handed them over to the customer multiple times."}, {"start_frame": 644, "end_frame": 717, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to the customer multiple times."}, {"start_frame": 717, "end_frame": 831, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has handed over flyers to the customer multiple times."}, {"start_frame": 831, "end_frame": 914, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot repeatedly clamped flyers and handed them to the customer."}, {"start_frame": 914, "end_frame": 1121, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has handed over flyers to the customer multiple times."}, {"start_frame": 1121, "end_frame": 1201, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has handed over flyers to the customer multiple times."}, {"start_frame": 1201, "end_frame": 1299, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has handed over flyers to the customer multiple times."}, {"start_frame": 1299, "end_frame": 1376, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot repeatedly clamped flyers and handed them to the customer."}, {"start_frame": 1376, "end_frame": 1521, "action_text": "clamp the flyer", "skill": "Clamp", "language_memory": "The robot repeatedly clamped flyers and handed them over to the customer multiple times."}, {"start_frame": 1521, "end_frame": 1596, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot repeatedly clamped flyers and handed them to the customer."}, {"start_frame": 1596, "end_frame": 1725, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot repeatedly clamped flyers and handed them over to the customer multiple times."}, {"start_frame": 1725, "end_frame": 1817, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot repeatedly clamped flyers and handed them to the customer."}, {"start_frame": 1817, "end_frame": 1974, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot repeatedly clamped flyers and handed them over to the customer multiple times."}, {"start_frame": 1974, "end_frame": 2052, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot repeatedly clamped flyers and handed them over to the customer multiple times."}], "detailed_task_instruction": ["The provided subtasks describe a repetitive sequence of clamping flyers and handing them to a customer, which contradicts the original goal of cleaning a desktop. As per the mandatory rules, I cannot invent unseen objects, containers, rooms, states, or extra operations to align the subtasks with the original goal. Since the subtasks do not contain any information regarding cleaning, dusting, organizing, or removing items from a desktop, it is impossible to rewrite the instruction to be more specific about cleaning while strictly adhering to the provided evidence. Therefore, no valid detailed task instruction can be generated that satisfies both the original goal and the constraint to use only the provided subtasks."]}
{"task_id": "task_3777", "episode_index": 69, "video_path": "task_3777/videos/chunk-000/{video_key}/episode_000069.mp4", "tasks": ["Clean the desktop."], "length": 1985, "action_config": [{"start_frame": 0, "end_frame": 189, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 189, "end_frame": 253, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped the flyers."}, {"start_frame": 253, "end_frame": 378, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has clamped flyers and handed them over to the customer."}, {"start_frame": 378, "end_frame": 444, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot clamped flyers and handed one to the customer."}, {"start_frame": 444, "end_frame": 578, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has clamped flyers and handed them over to the customer multiple times."}, {"start_frame": 578, "end_frame": 639, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to the customer multiple times."}, {"start_frame": 639, "end_frame": 764, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has handed over flyers to the customer multiple times."}, {"start_frame": 764, "end_frame": 827, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot repeatedly clamped flyers and handed them to the customer."}, {"start_frame": 827, "end_frame": 977, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has handed over flyers to the customer multiple times."}, {"start_frame": 977, "end_frame": 1040, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has handed over flyers to the customer multiple times."}, {"start_frame": 1040, "end_frame": 1146, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has handed over flyers to the customer multiple times."}, {"start_frame": 1146, "end_frame": 1214, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot repeatedly clamped flyers and handed them to the customer."}, {"start_frame": 1214, "end_frame": 1475, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot repeatedly clamped flyers and handed them over to the customer multiple times."}, {"start_frame": 1475, "end_frame": 1534, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot repeatedly clamped flyers and handed them over to the customer multiple times."}, {"start_frame": 1534, "end_frame": 1703, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot repeatedly clamped flyers and handed them over to the customer multiple times."}, {"start_frame": 1703, "end_frame": 1770, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot repeatedly clamped flyers and handed them over to the customer."}, {"start_frame": 1770, "end_frame": 1881, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot repeatedly clamped flyers and handed them over to the customer multiple times."}, {"start_frame": 1881, "end_frame": 1961, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot repeatedly clamped flyers and handed them over to the customer."}], "detailed_task_instruction": ["The provided subtasks describe a repetitive sequence of clamping flyers and handing them to a customer, which contradicts the original goal of cleaning a desktop. As per the mandatory rule to use only the provided evidence and not invent unseen objects or operations, it is impossible to generate a detailed instruction for cleaning a desktop because the subtasks contain no information about cleaning, dust, trash, or desktop surfaces. Consequently, no valid detailed task instruction can be created that adheres to all constraints while reflecting the original intent."]}
{"task_id": "task_3777", "episode_index": 70, "video_path": "task_3777/videos/chunk-000/{video_key}/episode_000070.mp4", "tasks": ["Clean the desktop."], "length": 2025, "action_config": [{"start_frame": 30, "end_frame": 205, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 205, "end_frame": 275, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped the flyers."}, {"start_frame": 275, "end_frame": 402, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has clamped flyers and handed them over to the customer."}, {"start_frame": 402, "end_frame": 487, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot clamped flyers and handed one to the customer."}, {"start_frame": 487, "end_frame": 668, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has clamped flyers and handed them over to the customer multiple times."}, {"start_frame": 668, "end_frame": 744, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to the customer multiple times."}, {"start_frame": 744, "end_frame": 849, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has handed over flyers to the customer multiple times."}, {"start_frame": 849, "end_frame": 942, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot repeatedly clamped flyers and handed them to the customer."}, {"start_frame": 942, "end_frame": 1060, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has handed over flyers to the customer multiple times."}, {"start_frame": 1060, "end_frame": 1137, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has handed over flyers to the customer multiple times."}, {"start_frame": 1137, "end_frame": 1419, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has handed over flyers to the customer multiple times."}, {"start_frame": 1419, "end_frame": 1488, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot repeatedly clamped flyers and handed them to the customer."}, {"start_frame": 1488, "end_frame": 1673, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot repeatedly clamped flyers and handed them over to the customer multiple times."}, {"start_frame": 1673, "end_frame": 1736, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot repeatedly clamped flyers and handed them over to the customer multiple times."}, {"start_frame": 1736, "end_frame": 1945, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot repeatedly clamped flyers and handed them over to the customer multiple times."}, {"start_frame": 1945, "end_frame": 2024, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot repeatedly clamped flyers and handed them over to the customer."}], "detailed_task_instruction": ["The provided subtasks describe a repetitive sequence of clamping flyers and handing them to a customer, which contradicts the original goal of cleaning a desktop. As per the mandatory rules, I cannot invent unseen objects, containers, rooms, states, or extra operations to align the subtasks with the original goal. Since the subtasks do not contain any information regarding cleaning, dusting, or organizing a desktop, and inventing such details would violate the rule to use only provided evidence, it is impossible to generate a detailed task instruction that both preserves the true goal of cleaning the desktop and strictly adheres to the provided subtask list. Therefore, no valid output can be produced under the given constraints."]}
{"task_id": "task_3777", "episode_index": 71, "video_path": "task_3777/videos/chunk-000/{video_key}/episode_000071.mp4", "tasks": ["Clean the desktop."], "length": 1888, "action_config": [{"start_frame": 0, "end_frame": 145, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 145, "end_frame": 202, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped the flyers."}, {"start_frame": 202, "end_frame": 293, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has clamped flyers and handed them over to the customer."}, {"start_frame": 293, "end_frame": 350, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot clamped flyers and handed one to the customer."}, {"start_frame": 350, "end_frame": 548, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has clamped flyers and handed them over to the customer multiple times."}, {"start_frame": 548, "end_frame": 639, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to the customer multiple times."}, {"start_frame": 639, "end_frame": 781, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has handed over flyers to the customer multiple times."}, {"start_frame": 781, "end_frame": 840, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot repeatedly clamped flyers and handed them to the customer."}, {"start_frame": 840, "end_frame": 961, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has handed over flyers to the customer multiple times."}, {"start_frame": 961, "end_frame": 1021, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has handed over flyers to the customer multiple times."}, {"start_frame": 1021, "end_frame": 1194, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has handed over flyers to the customer multiple times."}, {"start_frame": 1194, "end_frame": 1262, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot repeatedly clamped flyers and handed them to the customer."}, {"start_frame": 1262, "end_frame": 1384, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot repeatedly clamped flyers and handed them over to the customer multiple times."}, {"start_frame": 1384, "end_frame": 1463, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot repeatedly clamped flyers and handed them over to the customer multiple times."}, {"start_frame": 1463, "end_frame": 1600, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot repeatedly clamped flyers and handed them over to the customer multiple times."}, {"start_frame": 1600, "end_frame": 1668, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot repeatedly clamped flyers and handed them over to the customer."}, {"start_frame": 1668, "end_frame": 1800, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot repeatedly clamped flyers and handed them over to the customer multiple times."}, {"start_frame": 1800, "end_frame": 1870, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot repeatedly clamped flyers and handed them over to the customer."}], "detailed_task_instruction": ["The provided subtasks describe a repetitive sequence of clamping flyers and handing them to a customer, which contradicts the original goal of cleaning a desktop. As per the mandatory rule to use only the provided evidence and not invent unseen objects or operations, it is impossible to generate a detailed instruction for cleaning a desktop because the subtasks contain no information about cleaning, dust, trash, or desktop surfaces. Consequently, no valid detailed task instruction can be created that adheres to all constraints while reflecting the original intent."]}
{"task_id": "task_3777", "episode_index": 72, "video_path": "task_3777/videos/chunk-000/{video_key}/episode_000072.mp4", "tasks": ["Clean the desktop."], "length": 1943, "action_config": [{"start_frame": 30, "end_frame": 274, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 274, "end_frame": 339, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped the flyers."}, {"start_frame": 339, "end_frame": 484, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has clamped flyers and handed them over to the customer."}, {"start_frame": 484, "end_frame": 538, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot clamped flyers and handed one to the customer."}, {"start_frame": 538, "end_frame": 766, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has clamped flyers and handed them over to the customer multiple times."}, {"start_frame": 766, "end_frame": 819, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to the customer multiple times."}, {"start_frame": 819, "end_frame": 1110, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has handed over flyers to the customer multiple times."}, {"start_frame": 1110, "end_frame": 1167, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot repeatedly clamped flyers and handed them to the customer."}, {"start_frame": 1167, "end_frame": 1438, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has handed over flyers to the customer multiple times."}, {"start_frame": 1438, "end_frame": 1499, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has handed over flyers to the customer multiple times."}, {"start_frame": 1499, "end_frame": 1638, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has handed over flyers to the customer multiple times."}, {"start_frame": 1638, "end_frame": 1693, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot repeatedly clamped flyers and handed them to the customer."}, {"start_frame": 1693, "end_frame": 1863, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot repeatedly clamped flyers and handed them over to the customer multiple times."}, {"start_frame": 1863, "end_frame": 1942, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot repeatedly clamped flyers and handed them over to the customer multiple times."}], "detailed_task_instruction": ["The provided subtasks describe a repetitive sequence of clamping flyers and handing them to a customer, which contradicts the original goal of cleaning a desktop. As per the mandatory rule to use only the provided evidence and not invent unseen objects or operations, it is impossible to rewrite the instruction to reflect \"cleaning a desktop\" using these specific steps. Consequently, no valid detailed task instruction can be generated that adheres to all constraints."]}
{"task_id": "task_3777", "episode_index": 73, "video_path": "task_3777/videos/chunk-000/{video_key}/episode_000073.mp4", "tasks": ["Clean the desktop."], "length": 1997, "action_config": [{"start_frame": 0, "end_frame": 337, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 337, "end_frame": 398, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped the flyers."}, {"start_frame": 398, "end_frame": 532, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has clamped flyers and handed them over to the customer."}, {"start_frame": 532, "end_frame": 593, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot clamped flyers and handed one to the customer."}, {"start_frame": 593, "end_frame": 761, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has clamped flyers and handed them over to the customer multiple times."}, {"start_frame": 761, "end_frame": 820, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to the customer multiple times."}, {"start_frame": 820, "end_frame": 983, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has handed over flyers to the customer multiple times."}, {"start_frame": 983, "end_frame": 1057, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot repeatedly clamped flyers and handed them to the customer."}, {"start_frame": 1057, "end_frame": 1184, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has handed over flyers to the customer multiple times."}, {"start_frame": 1184, "end_frame": 1233, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has handed over flyers to the customer multiple times."}, {"start_frame": 1233, "end_frame": 1338, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has handed over flyers to the customer multiple times."}, {"start_frame": 1338, "end_frame": 1393, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot repeatedly clamped flyers and handed them to the customer."}, {"start_frame": 1393, "end_frame": 1600, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot repeatedly clamped flyers and handed them over to the customer multiple times."}, {"start_frame": 1600, "end_frame": 1658, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot repeatedly clamped flyers and handed them over to the customer multiple times."}, {"start_frame": 1658, "end_frame": 1930, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot repeatedly clamped flyers and handed them over to the customer multiple times."}, {"start_frame": 1930, "end_frame": 1996, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot repeatedly clamped flyers and handed them over to the customer."}], "detailed_task_instruction": ["The provided subtasks describe a repetitive sequence of clamping flyers and handing them to a customer, which contradicts the original goal of cleaning a desktop. As per the mandatory rules, I cannot invent unseen objects, containers, rooms, states, or extra operations to align the subtasks with the original goal. Since the subtasks do not contain any information regarding cleaning, dusting, or organizing a desktop, and inventing such details would violate the rule to use only provided evidence, it is impossible to generate a detailed task instruction that both preserves the true goal of cleaning the desktop and strictly adheres to the provided subtask list. Therefore, no valid output can be produced under the given constraints."]}
{"task_id": "task_3777", "episode_index": 74, "video_path": "task_3777/videos/chunk-000/{video_key}/episode_000074.mp4", "tasks": ["Clean the desktop."], "length": 2009, "action_config": [{"start_frame": 0, "end_frame": 206, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 206, "end_frame": 288, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped the flyers."}, {"start_frame": 288, "end_frame": 559, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has clamped flyers and handed them over to the customer."}, {"start_frame": 559, "end_frame": 644, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot clamped flyers and handed one to the customer."}, {"start_frame": 644, "end_frame": 821, "action_text": "clamp the flyer", "skill": "Clamp", "language_memory": "The robot has clamped flyers and handed them over to the customer multiple times."}, {"start_frame": 821, "end_frame": 895, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to the customer multiple times."}, {"start_frame": 895, "end_frame": 1494, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has handed over multiple flyers to the customer."}, {"start_frame": 1494, "end_frame": 1554, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot repeatedly clamped flyers and handed them to the customer."}, {"start_frame": 1554, "end_frame": 1911, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has handed over multiple flyers to the customer."}, {"start_frame": 1911, "end_frame": 1996, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot repeatedly clamped flyers and handed them to the customer."}], "detailed_task_instruction": ["The provided subtasks describe a repetitive cycle of clamping flyers and handing them to a customer, which contradicts the original goal of cleaning a desktop. As per the mandatory rules, I cannot invent new objects, containers, or operations (such as cleaning actions) that are not present in the provided subtasks. Therefore, it is impossible to rewrite the instruction to reflect \"cleaning the desktop\" using only the evidence of handing out flyers. The available subtasks do not support the true goal of the original task instruction."]}
{"task_id": "task_3777", "episode_index": 75, "video_path": "task_3777/videos/chunk-000/{video_key}/episode_000075.mp4", "tasks": ["Clean the desktop."], "length": 1989, "action_config": [{"start_frame": 0, "end_frame": 224, "action_text": "clamp the flyer", "skill": "Clamp", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 224, "end_frame": 281, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The flyer has been clamped."}, {"start_frame": 281, "end_frame": 421, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The flyer was clamped and handed over to the customer."}, {"start_frame": 421, "end_frame": 486, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot clamped flyers and handed them over to the customer."}, {"start_frame": 486, "end_frame": 682, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot clamped flyers and handed them to the customer."}, {"start_frame": 682, "end_frame": 731, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot clamped flyers and handed them to the customer."}, {"start_frame": 731, "end_frame": 882, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has handed over multiple flyers to the customer."}, {"start_frame": 882, "end_frame": 935, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped and handed over flyers to the customer multiple times."}, {"start_frame": 935, "end_frame": 1137, "action_text": "clamp the flyer", "skill": "Clamp", "language_memory": "The robot has handed over multiple flyers to the customer."}, {"start_frame": 1137, "end_frame": 1186, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot repeatedly clamped flyers and handed them to the customer."}, {"start_frame": 1186, "end_frame": 1305, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has clamped and handed over flyers to the customer multiple times."}, {"start_frame": 1305, "end_frame": 1374, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot repeatedly clamped flyers and handed them to the customer."}, {"start_frame": 1374, "end_frame": 1523, "action_text": "clamp the flyer", "skill": "Clamp", "language_memory": "The robot repeatedly clamped flyers and handed them to the customer."}, {"start_frame": 1523, "end_frame": 1598, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot repeatedly clamped flyers and handed them to the customer."}, {"start_frame": 1598, "end_frame": 1746, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot repeatedly clamped flyers and handed them over to the customer."}, {"start_frame": 1746, "end_frame": 1814, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot repeatedly clamped flyers and handed them over to the customer."}, {"start_frame": 1814, "end_frame": 1902, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot repeatedly clamped flyers and handed them over to the customer."}, {"start_frame": 1902, "end_frame": 1988, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot repeatedly clamped flyers and handed them over to the customer."}], "detailed_task_instruction": ["The task goal is to clean the desktop by organizing and distributing flyers. First, clamp a single flyer and hand it to the customer. Repeat this sequence for the remaining flyers, alternating between clamping individual flyers and groups of flyers, and handing each one to the customer until all flyers are distributed. Ensure the order of operations follows the specific sequence of clamping and handing over as defined by the subtasks, maintaining the pattern of alternating single and multiple flyers throughout the process."]}
{"task_id": "task_3777", "episode_index": 76, "video_path": "task_3777/videos/chunk-000/{video_key}/episode_000076.mp4", "tasks": ["Clean the desktop."], "length": 2222, "action_config": [{"start_frame": 0, "end_frame": 235, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 235, "end_frame": 300, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped the flyers."}, {"start_frame": 300, "end_frame": 578, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has clamped flyers and handed them over to the customer."}, {"start_frame": 578, "end_frame": 650, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot clamped flyers and handed one to the customer."}, {"start_frame": 650, "end_frame": 1043, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has clamped flyers and handed them over to the customer multiple times."}, {"start_frame": 1043, "end_frame": 1124, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to the customer multiple times."}, {"start_frame": 1124, "end_frame": 1286, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has handed over flyers to the customer multiple times."}, {"start_frame": 1286, "end_frame": 1422, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot repeatedly clamped flyers and handed them to the customer."}, {"start_frame": 1422, "end_frame": 1625, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has handed over flyers to the customer multiple times."}, {"start_frame": 1625, "end_frame": 1698, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has handed over flyers to the customer multiple times."}, {"start_frame": 1698, "end_frame": 1890, "action_text": "clamp the flyer", "skill": "Clamp", "language_memory": "The robot has handed over flyers to the customer multiple times."}, {"start_frame": 1890, "end_frame": 1960, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has handed over flyers to the customer multiple times."}, {"start_frame": 1960, "end_frame": 2102, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot repeatedly clamped flyers and handed them to the customer."}, {"start_frame": 2102, "end_frame": 2207, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot repeatedly clamped flyers and handed them over to the customer multiple times."}], "detailed_task_instruction": ["Clamp and hand over multiple flyers to the customer in a repeating sequence, ensuring each flyer is secured before being transferred. After completing the repeated cycles of clamping and handing over, clamp the final single flyer and hand it over to the customer."]}
{"task_id": "task_3777", "episode_index": 77, "video_path": "task_3777/videos/chunk-000/{video_key}/episode_000077.mp4", "tasks": ["Clean the desktop."], "length": 1930, "action_config": [{"start_frame": 0, "end_frame": 157, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 157, "end_frame": 215, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped the flyers."}, {"start_frame": 215, "end_frame": 379, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has clamped flyers and handed them over to the customer."}, {"start_frame": 379, "end_frame": 431, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot clamped flyers and handed one to the customer."}, {"start_frame": 431, "end_frame": 620, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has clamped flyers and handed them over to the customer multiple times."}, {"start_frame": 620, "end_frame": 675, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to the customer multiple times."}, {"start_frame": 675, "end_frame": 899, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has handed over flyers to the customer multiple times."}, {"start_frame": 899, "end_frame": 957, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot repeatedly clamped flyers and handed them to the customer."}, {"start_frame": 957, "end_frame": 1311, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has handed over flyers to the customer multiple times."}, {"start_frame": 1311, "end_frame": 1370, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has handed over flyers to the customer multiple times."}, {"start_frame": 1370, "end_frame": 1844, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has handed over flyers to the customer multiple times."}, {"start_frame": 1844, "end_frame": 1929, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot repeatedly clamped flyers and handed them to the customer."}], "detailed_task_instruction": ["The provided subtasks describe a repetitive sequence of clamping flyers and handing them to a customer, which contradicts the original goal of cleaning a desktop. As per the mandatory rules, I cannot invent unseen objects, containers, rooms, states, or extra operations to align the subtasks with the original goal. Since the subtasks do not contain any information regarding cleaning a desktop, it is impossible to rewrite the instruction to be more specific while adhering to the constraint of using only the provided evidence. Therefore, no valid detailed task instruction can be generated that satisfies both the original goal and the provided subtasks."]}
{"task_id": "task_3777", "episode_index": 78, "video_path": "task_3777/videos/chunk-000/{video_key}/episode_000078.mp4", "tasks": ["Clean the desktop."], "length": 1984, "action_config": [{"start_frame": 75, "end_frame": 213, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 213, "end_frame": 267, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped the flyers."}, {"start_frame": 267, "end_frame": 392, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has clamped flyers and handed them over to the customer."}, {"start_frame": 392, "end_frame": 460, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot clamped flyers and handed one to the customer."}, {"start_frame": 460, "end_frame": 867, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has clamped flyers and handed them over to the customer multiple times."}, {"start_frame": 867, "end_frame": 934, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to the customer multiple times."}, {"start_frame": 934, "end_frame": 1096, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has handed over flyers to the customer multiple times."}, {"start_frame": 1096, "end_frame": 1160, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot repeatedly clamped flyers and handed them to the customer."}, {"start_frame": 1160, "end_frame": 1894, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has handed over flyers to the customer multiple times."}, {"start_frame": 1894, "end_frame": 1983, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has handed over flyers to the customer multiple times."}], "detailed_task_instruction": ["The provided subtasks describe a repetitive cycle of clamping flyers and handing them to a customer, which contradicts the original goal of cleaning a desktop. As per the mandatory rule to use only the provided evidence and not invent unseen objects or operations, it is impossible to generate a detailed instruction for cleaning a desktop. The available subtasks do not contain any information regarding cleaning actions, cleaning tools, or desktop surfaces. Therefore, a detailed task instruction adhering to the constraints cannot be created from the given subtasks."]}
{"task_id": "task_3777", "episode_index": 79, "video_path": "task_3777/videos/chunk-000/{video_key}/episode_000079.mp4", "tasks": ["Clean the desktop."], "length": 2020, "action_config": [{"start_frame": 0, "end_frame": 189, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 189, "end_frame": 247, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped the flyers."}, {"start_frame": 247, "end_frame": 396, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has clamped flyers and handed them over to the customer."}, {"start_frame": 396, "end_frame": 447, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot clamped flyers and handed one to the customer."}, {"start_frame": 447, "end_frame": 591, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has clamped flyers and handed them over to the customer multiple times."}, {"start_frame": 591, "end_frame": 649, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to the customer multiple times."}, {"start_frame": 649, "end_frame": 858, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has handed over flyers to the customer multiple times."}, {"start_frame": 858, "end_frame": 926, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot repeatedly clamped flyers and handed them to the customer."}, {"start_frame": 926, "end_frame": 1068, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has handed over flyers to the customer multiple times."}, {"start_frame": 1068, "end_frame": 1119, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has handed over flyers to the customer multiple times."}, {"start_frame": 1119, "end_frame": 1346, "action_text": "clamp the flyer", "skill": "Clamp", "language_memory": "The robot has handed over flyers to the customer multiple times."}, {"start_frame": 1346, "end_frame": 1410, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has handed over flyers to the customer multiple times."}, {"start_frame": 1410, "end_frame": 1512, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot repeatedly clamped flyers and handed them to the customer."}, {"start_frame": 1512, "end_frame": 1570, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot repeatedly clamped flyers and handed them over to the customer multiple times."}, {"start_frame": 1570, "end_frame": 1806, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot repeatedly clamped flyers and handed them over to the customer multiple times."}, {"start_frame": 1806, "end_frame": 1860, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot repeatedly clamped flyers and handed them over to the customer multiple times."}, {"start_frame": 1860, "end_frame": 1953, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot repeatedly clamped flyers and handed them over to the customer multiple times."}, {"start_frame": 1953, "end_frame": 2019, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot repeatedly clamped flyers and handed them over to the customer multiple times."}], "detailed_task_instruction": ["Clamp and hand over multiple flyers to the customer in a repeating sequence, ensuring each flyer is secured before being transferred. Continue this pattern of clamping and handing over flyers until all items are delivered, maintaining the specific order of securing each flyer followed immediately by its delivery to the customer."]}
{"task_id": "task_3777", "episode_index": 80, "video_path": "task_3777/videos/chunk-000/{video_key}/episode_000080.mp4", "tasks": ["Clean the desktop."], "length": 1982, "action_config": [{"start_frame": 0, "end_frame": 181, "action_text": "clamp the flyer", "skill": "Clamp", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 181, "end_frame": 249, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The flyer has been clamped."}, {"start_frame": 249, "end_frame": 376, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The flyer was clamped and handed over to the customer."}, {"start_frame": 376, "end_frame": 442, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot clamped flyers and handed them over to the customer."}, {"start_frame": 442, "end_frame": 597, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot clamped flyers and handed them to the customer."}, {"start_frame": 597, "end_frame": 665, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot clamped flyers and handed them to the customer."}, {"start_frame": 665, "end_frame": 797, "action_text": "clamp the flyer", "skill": "Clamp", "language_memory": "The robot has handed over multiple flyers to the customer."}, {"start_frame": 797, "end_frame": 874, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot clamped and handed over flyers to the customer multiple times."}, {"start_frame": 874, "end_frame": 998, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has handed over multiple flyers to the customer."}, {"start_frame": 998, "end_frame": 1069, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot repeatedly clamped flyers and handed them to the customer."}, {"start_frame": 1069, "end_frame": 1290, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has handed over multiple flyers to the customer."}, {"start_frame": 1290, "end_frame": 1350, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped and handed over flyers to the customer multiple times."}, {"start_frame": 1350, "end_frame": 1679, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot repeatedly clamped flyers and handed them to the customer."}, {"start_frame": 1679, "end_frame": 1751, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot repeatedly clamped flyers and handed them over to the customer."}, {"start_frame": 1751, "end_frame": 1871, "action_text": "clamp the flyer", "skill": "Clamp", "language_memory": "The robot repeatedly clamped flyers and handed them over to the customer."}, {"start_frame": 1871, "end_frame": 1966, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot repeatedly clamped flyers and handed them to the customer."}], "detailed_task_instruction": ["The provided subtasks describe a repetitive sequence of clamping flyers and handing them to a customer, which contradicts the original goal of cleaning a desktop. As per the mandatory rules, I cannot invent new objects, containers, or operations (such as cleaning actions) that are not present in the provided subtasks. Since the subtasks do not contain any information regarding cleaning, removing items, or organizing a desktop, it is impossible to rewrite the instruction to be more specific about cleaning while adhering to the constraint of using only the provided evidence. Therefore, no valid detailed task instruction can be generated that both expands on the subtasks and fulfills the original goal of cleaning the desktop."]}
{"task_id": "task_3777", "episode_index": 81, "video_path": "task_3777/videos/chunk-000/{video_key}/episode_000081.mp4", "tasks": ["Clean the desktop."], "length": 2215, "action_config": [{"start_frame": 0, "end_frame": 164, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 164, "end_frame": 223, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped the flyers."}, {"start_frame": 223, "end_frame": 322, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has clamped flyers and handed them over to the customer."}, {"start_frame": 322, "end_frame": 385, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot clamped flyers and handed one to the customer."}, {"start_frame": 385, "end_frame": 488, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has clamped flyers and handed them over to the customer multiple times."}, {"start_frame": 488, "end_frame": 557, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to the customer multiple times."}, {"start_frame": 557, "end_frame": 746, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has handed over flyers to the customer multiple times."}, {"start_frame": 746, "end_frame": 809, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot repeatedly clamped flyers and handed them to the customer."}, {"start_frame": 809, "end_frame": 981, "action_text": "clamp the flyer", "skill": "Clamp", "language_memory": "The robot has handed over flyers to the customer multiple times."}, {"start_frame": 981, "end_frame": 1040, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has handed over flyers to the customer multiple times."}, {"start_frame": 1040, "end_frame": 1172, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot repeatedly clamped flyers and handed them to the customer."}, {"start_frame": 1172, "end_frame": 1228, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot repeatedly clamped flyers and handed them over to the customer multiple times."}, {"start_frame": 1228, "end_frame": 1774, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot repeatedly clamped flyers and handed them over to the customer multiple times."}, {"start_frame": 1774, "end_frame": 1835, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot repeatedly clamped flyers and handed them over to the customer multiple times."}, {"start_frame": 1835, "end_frame": 1939, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot repeatedly clamped flyers and handed them over to the customer multiple times."}, {"start_frame": 1939, "end_frame": 2019, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot repeatedly clamped flyers and handed them over to the customer multiple times."}, {"start_frame": 2019, "end_frame": 2103, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot repeatedly clamped flyers and handed them over to the customer multiple times."}, {"start_frame": 2103, "end_frame": 2208, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot repeatedly clamped flyers and handed them over to the customer."}], "detailed_task_instruction": ["The provided subtasks describe a repetitive sequence of clamping flyers and handing them to a customer, which contradicts the original goal of cleaning a desktop. As per the mandatory rules, I cannot invent new objects, containers, or operations (such as picking up trash or wiping surfaces) that are not present in the subtasks. Since the subtasks do not contain any information regarding cleaning actions, it is impossible to rewrite the instruction to be more specific about cleaning while adhering to the constraint of using only the provided evidence. Consequently, no valid detailed task instruction can be generated that both expands on the subtasks and fulfills the original goal of cleaning the desktop."]}
{"task_id": "task_3777", "episode_index": 82, "video_path": "task_3777/videos/chunk-000/{video_key}/episode_000082.mp4", "tasks": ["Clean the desktop."], "length": 2504, "action_config": [{"start_frame": 0, "end_frame": 394, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 394, "end_frame": 450, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped the flyers."}, {"start_frame": 450, "end_frame": 584, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has clamped flyers and handed them over to the customer."}, {"start_frame": 584, "end_frame": 643, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot clamped flyers and handed one to the customer."}, {"start_frame": 643, "end_frame": 770, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has clamped flyers and handed them over to the customer multiple times."}, {"start_frame": 770, "end_frame": 819, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to the customer multiple times."}, {"start_frame": 819, "end_frame": 965, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has handed over flyers to the customer multiple times."}, {"start_frame": 965, "end_frame": 1017, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot repeatedly clamped flyers and handed them to the customer."}, {"start_frame": 1017, "end_frame": 1204, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has handed over flyers to the customer multiple times."}, {"start_frame": 1204, "end_frame": 1261, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has handed over flyers to the customer multiple times."}, {"start_frame": 1261, "end_frame": 1364, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has handed over flyers to the customer multiple times."}, {"start_frame": 1364, "end_frame": 1414, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot repeatedly clamped flyers and handed them to the customer."}, {"start_frame": 1414, "end_frame": 1496, "action_text": "clamp the flyer", "skill": "Clamp", "language_memory": "The robot repeatedly clamped flyers and handed them over to the customer multiple times."}, {"start_frame": 1496, "end_frame": 1552, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot repeatedly clamped flyers and handed them to the customer."}, {"start_frame": 1552, "end_frame": 1631, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot repeatedly clamped flyers and handed them over to the customer multiple times."}, {"start_frame": 1631, "end_frame": 1681, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot repeatedly clamped flyers and handed them to the customer."}, {"start_frame": 1681, "end_frame": 1868, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot repeatedly clamped flyers and handed them over to the customer multiple times."}, {"start_frame": 1868, "end_frame": 1915, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot repeatedly clamped flyers and handed them over to the customer multiple times."}, {"start_frame": 1915, "end_frame": 2400, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot repeatedly clamped flyers and handed them over to the customer multiple times."}, {"start_frame": 2400, "end_frame": 2482, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot repeatedly clamped flyers and handed them to the customer."}], "detailed_task_instruction": ["The provided subtasks describe a repetitive process of clamping flyers and handing them to a customer, which contradicts the original goal of cleaning a desktop. As per the mandatory rule to use only the provided evidence and not invent unseen objects or operations, it is impossible to generate a detailed instruction for cleaning a desktop based on these specific subtasks. The subtasks do not contain any information regarding cleaning, dusting, organizing, or manipulating desktop items. Therefore, no valid detailed task instruction can be created that adheres to all constraints while reflecting the original goal."]}
{"task_id": "task_3777", "episode_index": 83, "video_path": "task_3777/videos/chunk-000/{video_key}/episode_000083.mp4", "tasks": ["Clean the desktop."], "length": 2239, "action_config": [{"start_frame": 45, "end_frame": 153, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 153, "end_frame": 219, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped the flyers."}, {"start_frame": 219, "end_frame": 318, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has clamped flyers and handed them over to the customer."}, {"start_frame": 318, "end_frame": 373, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot clamped flyers and handed one to the customer."}, {"start_frame": 373, "end_frame": 514, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has clamped flyers and handed them over to the customer multiple times."}, {"start_frame": 514, "end_frame": 569, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to the customer multiple times."}, {"start_frame": 569, "end_frame": 665, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has handed over flyers to the customer multiple times."}, {"start_frame": 665, "end_frame": 716, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot repeatedly clamped flyers and handed them to the customer."}, {"start_frame": 716, "end_frame": 826, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has handed over flyers to the customer multiple times."}, {"start_frame": 826, "end_frame": 880, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has handed over flyers to the customer multiple times."}, {"start_frame": 880, "end_frame": 1317, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has handed over flyers to the customer multiple times."}, {"start_frame": 1317, "end_frame": 1367, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot repeatedly clamped flyers and handed them to the customer."}, {"start_frame": 1367, "end_frame": 1482, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot repeatedly clamped flyers and handed them over to the customer multiple times."}, {"start_frame": 1482, "end_frame": 1530, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot repeatedly clamped flyers and handed them over to the customer multiple times."}, {"start_frame": 1530, "end_frame": 1757, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot repeatedly clamped flyers and handed them over to the customer multiple times."}, {"start_frame": 1757, "end_frame": 1829, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot repeatedly clamped flyers and handed them over to the customer."}, {"start_frame": 1829, "end_frame": 1947, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot repeatedly clamped flyers and handed them over to the customer multiple times."}, {"start_frame": 1947, "end_frame": 2001, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot repeatedly clamped flyers and handed them over to the customer."}, {"start_frame": 2001, "end_frame": 2156, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot repeatedly clamped flyers and handed them over to the customer multiple times."}, {"start_frame": 2156, "end_frame": 2231, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot repeatedly clamped flyers and handed them over to the customer."}], "detailed_task_instruction": ["The provided subtasks describe a repetitive sequence of clamping flyers and handing them to a customer, which contradicts the original goal of cleaning a desktop. As per the mandatory rule to use only the provided evidence and not invent unseen objects or operations, it is impossible to generate a detailed instruction for cleaning a desktop. The available subtasks do not contain any information regarding cleaning, dusting, organizing, or manipulating desktop items. Therefore, no valid detailed task instruction can be created that adheres to the constraint of using only the provided subtasks while preserving the true goal of cleaning the desktop."]}
{"task_id": "task_3777", "episode_index": 84, "video_path": "task_3777/videos/chunk-000/{video_key}/episode_000084.mp4", "tasks": ["Clean the desktop."], "length": 1974, "action_config": [{"start_frame": 45, "end_frame": 173, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 173, "end_frame": 225, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped the flyers."}, {"start_frame": 225, "end_frame": 328, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has clamped flyers and handed them over to the customer."}, {"start_frame": 328, "end_frame": 379, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot clamped flyers and handed one to the customer."}, {"start_frame": 379, "end_frame": 455, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has clamped flyers and handed them over to the customer multiple times."}, {"start_frame": 455, "end_frame": 503, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to the customer multiple times."}, {"start_frame": 503, "end_frame": 619, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has handed over flyers to the customer multiple times."}, {"start_frame": 619, "end_frame": 668, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot repeatedly clamped flyers and handed them to the customer."}, {"start_frame": 668, "end_frame": 760, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has handed over flyers to the customer multiple times."}, {"start_frame": 760, "end_frame": 808, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has handed over flyers to the customer multiple times."}, {"start_frame": 808, "end_frame": 889, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has handed over flyers to the customer multiple times."}, {"start_frame": 889, "end_frame": 937, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot repeatedly clamped flyers and handed them to the customer."}, {"start_frame": 937, "end_frame": 1081, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot repeatedly clamped flyers and handed them over to the customer multiple times."}, {"start_frame": 1081, "end_frame": 1142, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot repeatedly clamped flyers and handed them over to the customer multiple times."}, {"start_frame": 1142, "end_frame": 1282, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot repeatedly clamped flyers and handed them over to the customer multiple times."}, {"start_frame": 1282, "end_frame": 1326, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot repeatedly clamped flyers and handed them over to the customer."}, {"start_frame": 1326, "end_frame": 1405, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot repeatedly clamped flyers and handed them over to the customer multiple times."}, {"start_frame": 1405, "end_frame": 1456, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot repeatedly clamped flyers and handed them over to the customer."}, {"start_frame": 1456, "end_frame": 1570, "action_text": "clamp the flyer", "skill": "Clamp", "language_memory": "The robot repeatedly clamped flyers and handed them over to the customer multiple times."}, {"start_frame": 1570, "end_frame": 1632, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot repeatedly clamped flyers and handed them to the customer."}, {"start_frame": 1632, "end_frame": 1899, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot repeatedly clamped flyers and handed them over to the customer."}, {"start_frame": 1899, "end_frame": 1957, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot repeatedly clamped flyers and handed them over to the customer."}], "detailed_task_instruction": ["The provided subtasks describe a repetitive sequence of clamping flyers and handing them to a customer, which contradicts the original goal of cleaning a desktop. As per the mandatory rule to use only the provided evidence and not invent unseen objects or operations, it is impossible to rewrite the instruction to reflect \"cleaning a desktop\" because the subtasks contain no information about cleaning, dusting, organizing, or any desktop-related actions. The subtasks exclusively detail a service interaction involving flyers. Therefore, adhering strictly to the constraint of using only the provided subtasks to add detail while preserving the true goal creates a logical impossibility. The only accurate reflection of the provided subtasks is a task to repeatedly clamp flyers and hand them to a customer, but this changes the original goal of cleaning the desktop. Consequently, no valid detailed task instruction can be generated that satisfies all mandatory rules simultaneously."]}
{"task_id": "task_3777", "episode_index": 85, "video_path": "task_3777/videos/chunk-000/{video_key}/episode_000085.mp4", "tasks": ["Clean the desktop."], "length": 2044, "action_config": [{"start_frame": 0, "end_frame": 144, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 144, "end_frame": 198, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped the flyers."}, {"start_frame": 198, "end_frame": 352, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has clamped flyers and handed them over to the customer."}, {"start_frame": 352, "end_frame": 407, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot clamped flyers and handed one to the customer."}, {"start_frame": 407, "end_frame": 529, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has clamped flyers and handed them over to the customer multiple times."}, {"start_frame": 529, "end_frame": 577, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to the customer multiple times."}, {"start_frame": 577, "end_frame": 732, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has handed over flyers to the customer multiple times."}, {"start_frame": 732, "end_frame": 783, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot repeatedly clamped flyers and handed them to the customer."}, {"start_frame": 783, "end_frame": 924, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has handed over flyers to the customer multiple times."}, {"start_frame": 924, "end_frame": 972, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has handed over flyers to the customer multiple times."}, {"start_frame": 972, "end_frame": 1141, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has handed over flyers to the customer multiple times."}, {"start_frame": 1141, "end_frame": 1198, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot repeatedly clamped flyers and handed them to the customer."}, {"start_frame": 1198, "end_frame": 1351, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot repeatedly clamped flyers and handed them over to the customer multiple times."}, {"start_frame": 1351, "end_frame": 1407, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot repeatedly clamped flyers and handed them over to the customer multiple times."}, {"start_frame": 1407, "end_frame": 1560, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot repeatedly clamped flyers and handed them over to the customer multiple times."}, {"start_frame": 1560, "end_frame": 1613, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot repeatedly clamped flyers and handed them over to the customer."}, {"start_frame": 1613, "end_frame": 1720, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot repeatedly clamped flyers and handed them over to the customer multiple times."}, {"start_frame": 1720, "end_frame": 1773, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot repeatedly clamped flyers and handed them over to the customer."}, {"start_frame": 1773, "end_frame": 1981, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot repeatedly clamped flyers and handed them over to the customer multiple times."}, {"start_frame": 1981, "end_frame": 2043, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot repeatedly clamped flyers and handed them over to the customer."}], "detailed_task_instruction": ["The provided subtasks describe a repetitive sequence of clamping flyers and handing them to a customer, which contradicts the original goal of cleaning a desktop. As per the mandatory rule to use only the provided evidence and not invent unseen objects or operations, it is impossible to generate a detailed instruction for cleaning a desktop. The available subtasks do not contain any information regarding cleaning, dusting, organizing, or manipulating desktop items. Therefore, no valid detailed task instruction can be created that adheres to the constraint of using only the provided subtasks while preserving the true goal of cleaning the desktop."]}
{"task_id": "task_3777", "episode_index": 86, "video_path": "task_3777/videos/chunk-000/{video_key}/episode_000086.mp4", "tasks": ["Clean the desktop."], "length": 1918, "action_config": [{"start_frame": 40, "end_frame": 177, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 177, "end_frame": 240, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped the flyers."}, {"start_frame": 240, "end_frame": 374, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has clamped flyers and handed them over to the customer."}, {"start_frame": 374, "end_frame": 428, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot clamped flyers and handed one to the customer."}, {"start_frame": 428, "end_frame": 550, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has clamped flyers and handed them over to the customer multiple times."}, {"start_frame": 550, "end_frame": 601, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to the customer multiple times."}, {"start_frame": 601, "end_frame": 732, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has handed over flyers to the customer multiple times."}, {"start_frame": 732, "end_frame": 783, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot repeatedly clamped flyers and handed them to the customer."}, {"start_frame": 783, "end_frame": 979, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has handed over flyers to the customer multiple times."}, {"start_frame": 979, "end_frame": 1030, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has handed over flyers to the customer multiple times."}, {"start_frame": 1030, "end_frame": 1165, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has handed over flyers to the customer multiple times."}, {"start_frame": 1165, "end_frame": 1219, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot repeatedly clamped flyers and handed them to the customer."}, {"start_frame": 1219, "end_frame": 1333, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot repeatedly clamped flyers and handed them over to the customer multiple times."}, {"start_frame": 1333, "end_frame": 1386, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot repeatedly clamped flyers and handed them over to the customer multiple times."}, {"start_frame": 1386, "end_frame": 1506, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot repeatedly clamped flyers and handed them over to the customer multiple times."}, {"start_frame": 1506, "end_frame": 1566, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot repeatedly clamped flyers and handed them over to the customer."}, {"start_frame": 1566, "end_frame": 1723, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot repeatedly clamped flyers and handed them over to the customer multiple times."}, {"start_frame": 1723, "end_frame": 1775, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot repeatedly clamped flyers and handed them over to the customer."}, {"start_frame": 1775, "end_frame": 1849, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot repeatedly clamped flyers and handed them over to the customer multiple times."}, {"start_frame": 1849, "end_frame": 1917, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot repeatedly clamped flyers and handed them over to the customer."}], "detailed_task_instruction": ["The provided subtasks describe a repetitive sequence of clamping flyers and handing them to a customer, which contradicts the original goal of cleaning a desktop. As per the mandatory rule to use only the provided evidence and not invent unseen objects or operations, it is impossible to generate a detailed instruction for cleaning a desktop. The available subtasks do not contain any information regarding cleaning, dusting, organizing, or manipulating desktop items. Therefore, no valid detailed task instruction can be created that adheres to the constraint of using only the provided subtasks while preserving the true goal of cleaning the desktop."]}
{"task_id": "task_3777", "episode_index": 87, "video_path": "task_3777/videos/chunk-000/{video_key}/episode_000087.mp4", "tasks": ["Clean the desktop."], "length": 1912, "action_config": [{"start_frame": 0, "end_frame": 176, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 176, "end_frame": 225, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped the flyers."}, {"start_frame": 225, "end_frame": 357, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has clamped flyers and handed them over to the customer."}, {"start_frame": 357, "end_frame": 409, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot clamped flyers and handed one to the customer."}, {"start_frame": 409, "end_frame": 523, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has clamped flyers and handed them over to the customer multiple times."}, {"start_frame": 523, "end_frame": 578, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to the customer multiple times."}, {"start_frame": 578, "end_frame": 696, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has handed over flyers to the customer multiple times."}, {"start_frame": 696, "end_frame": 748, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot repeatedly clamped flyers and handed them to the customer."}, {"start_frame": 748, "end_frame": 903, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has handed over flyers to the customer multiple times."}, {"start_frame": 903, "end_frame": 948, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has handed over flyers to the customer multiple times."}, {"start_frame": 948, "end_frame": 1083, "action_text": "clamp the flyer", "skill": "Clamp", "language_memory": "The robot has handed over flyers to the customer multiple times."}, {"start_frame": 1083, "end_frame": 1138, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has handed over flyers to the customer multiple times."}, {"start_frame": 1138, "end_frame": 1280, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot repeatedly clamped flyers and handed them to the customer."}, {"start_frame": 1280, "end_frame": 1333, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot repeatedly clamped flyers and handed them over to the customer multiple times."}, {"start_frame": 1333, "end_frame": 1486, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot repeatedly clamped flyers and handed them over to the customer multiple times."}, {"start_frame": 1486, "end_frame": 1552, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot repeatedly clamped flyers and handed them over to the customer multiple times."}, {"start_frame": 1552, "end_frame": 1660, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot repeatedly clamped flyers and handed them over to the customer multiple times."}, {"start_frame": 1660, "end_frame": 1728, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot repeatedly clamped flyers and handed them over to the customer multiple times."}, {"start_frame": 1728, "end_frame": 1849, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot repeatedly clamped flyers and handed them over to the customer multiple times."}, {"start_frame": 1849, "end_frame": 1911, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot repeatedly clamped flyers and handed them over to the customer."}], "detailed_task_instruction": ["The provided subtasks describe a repetitive sequence of clamping flyers and handing them to a customer, which contradicts the original goal of cleaning a desktop. As per the mandatory rules, I cannot invent unseen objects, containers, rooms, states, or extra operations to align the subtasks with the original goal. Since the subtasks do not contain any information regarding cleaning, dusting, organizing, or removing items from a desktop, it is impossible to rewrite the instruction to be more specific about cleaning while strictly adhering to the provided evidence. Therefore, no valid detailed task instruction can be generated that satisfies both the original goal and the constraint to use only the provided subtasks."]}
{"task_id": "task_3777", "episode_index": 88, "video_path": "task_3777/videos/chunk-000/{video_key}/episode_000088.mp4", "tasks": ["Clean the desktop."], "length": 2056, "action_config": [{"start_frame": 0, "end_frame": 159, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 159, "end_frame": 219, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped the flyers."}, {"start_frame": 219, "end_frame": 589, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has clamped flyers and handed them over to the customer."}, {"start_frame": 589, "end_frame": 636, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot clamped flyers and handed one to the customer."}, {"start_frame": 636, "end_frame": 927, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has clamped flyers and handed them over to the customer multiple times."}, {"start_frame": 927, "end_frame": 979, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to the customer multiple times."}, {"start_frame": 979, "end_frame": 1080, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has handed over flyers to the customer multiple times."}, {"start_frame": 1080, "end_frame": 1134, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot repeatedly clamped flyers and handed them to the customer."}, {"start_frame": 1134, "end_frame": 1243, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has handed over flyers to the customer multiple times."}, {"start_frame": 1243, "end_frame": 1306, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has handed over flyers to the customer multiple times."}, {"start_frame": 1306, "end_frame": 1428, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has handed over flyers to the customer multiple times."}, {"start_frame": 1428, "end_frame": 1485, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot repeatedly clamped flyers and handed them to the customer."}, {"start_frame": 1485, "end_frame": 1597, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot repeatedly clamped flyers and handed them over to the customer multiple times."}, {"start_frame": 1597, "end_frame": 1645, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot repeatedly clamped flyers and handed them over to the customer multiple times."}, {"start_frame": 1645, "end_frame": 1755, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot repeatedly clamped flyers and handed them over to the customer multiple times."}, {"start_frame": 1755, "end_frame": 1814, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot repeatedly clamped flyers and handed them over to the customer."}, {"start_frame": 1814, "end_frame": 1997, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot repeatedly clamped flyers and handed them over to the customer multiple times."}, {"start_frame": 1997, "end_frame": 2055, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot repeatedly clamped flyers and handed them over to the customer."}], "detailed_task_instruction": ["The provided subtasks describe a repetitive sequence of clamping flyers and handing them to a customer, which contradicts the original goal of cleaning a desktop. As per the mandatory rule to use only the provided evidence and not invent unseen objects or operations, it is impossible to generate a detailed instruction for cleaning a desktop because the subtasks contain no information about cleaning, dust, trash, or desktop surfaces. Consequently, no valid detailed task instruction can be created that adheres to all constraints while reflecting the original intent."]}
{"task_id": "task_3777", "episode_index": 89, "video_path": "task_3777/videos/chunk-000/{video_key}/episode_000089.mp4", "tasks": ["Clean the desktop."], "length": 1886, "action_config": [{"start_frame": 45, "end_frame": 196, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 196, "end_frame": 244, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped the flyers."}, {"start_frame": 244, "end_frame": 437, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has clamped flyers and handed them over to the customer."}, {"start_frame": 437, "end_frame": 488, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot clamped flyers and handed one to the customer."}, {"start_frame": 488, "end_frame": 1163, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has clamped flyers and handed them over to the customer multiple times."}, {"start_frame": 1163, "end_frame": 1209, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to the customer multiple times."}, {"start_frame": 1209, "end_frame": 1423, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has handed over flyers to the customer multiple times."}, {"start_frame": 1423, "end_frame": 1471, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot repeatedly clamped flyers and handed them to the customer."}, {"start_frame": 1471, "end_frame": 1593, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has handed over flyers to the customer multiple times."}, {"start_frame": 1593, "end_frame": 1652, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has handed over flyers to the customer multiple times."}, {"start_frame": 1652, "end_frame": 1813, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has handed over flyers to the customer multiple times."}, {"start_frame": 1813, "end_frame": 1885, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot repeatedly clamped flyers and handed them to the customer."}], "detailed_task_instruction": ["The provided subtasks describe a repetitive sequence of clamping flyers and handing them to a customer, which contradicts the original goal of cleaning a desktop. As per the mandatory rules, I cannot invent unseen objects, containers, rooms, states, or extra operations to align the subtasks with the original goal. Since the subtasks do not contain any information regarding cleaning a desktop, it is impossible to rewrite the instruction to be more specific while adhering to the constraint of using only the provided evidence. Therefore, no valid detailed task instruction can be generated that satisfies both the original goal and the provided subtasks."]}
{"task_id": "task_3777", "episode_index": 90, "video_path": "task_3777/videos/chunk-000/{video_key}/episode_000090.mp4", "tasks": ["Clean the desktop."], "length": 2104, "action_config": [{"start_frame": 40, "end_frame": 248, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 248, "end_frame": 316, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped the flyers."}, {"start_frame": 316, "end_frame": 432, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has clamped flyers and handed them over to the customer."}, {"start_frame": 432, "end_frame": 479, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot clamped flyers and handed one to the customer."}, {"start_frame": 479, "end_frame": 595, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has clamped flyers and handed them over to the customer multiple times."}, {"start_frame": 595, "end_frame": 638, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to the customer multiple times."}, {"start_frame": 638, "end_frame": 1110, "action_text": "clamp the flyer", "skill": "Clamp", "language_memory": "The robot has handed over flyers to the customer multiple times."}, {"start_frame": 1110, "end_frame": 1162, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped and handed over flyers to the customer multiple times."}, {"start_frame": 1162, "end_frame": 1849, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has handed over multiple flyers to the customer."}, {"start_frame": 1849, "end_frame": 1900, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot repeatedly clamped flyers and handed them to the customer."}, {"start_frame": 1900, "end_frame": 2023, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot repeatedly clamped flyers and handed them over to the customer."}, {"start_frame": 2023, "end_frame": 2103, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has repeatedly clamped flyers and handed them over to the customer multiple times."}], "detailed_task_instruction": ["Clean the desktop by repeatedly clamping flyers and handing them over to the customer. Specifically, clamp the flyers, hand them to the customer, clamp the flyers again, hand them to the customer, clamp the flyers once more, hand them to the customer, clamp a single flyer, hand it to the customer, clamp the flyers, hand them to the customer, clamp the flyers, and finally hand them to the customer."]}
{"task_id": "task_3777", "episode_index": 91, "video_path": "task_3777/videos/chunk-000/{video_key}/episode_000091.mp4", "tasks": ["Clean the desktop."], "length": 2293, "action_config": [{"start_frame": 0, "end_frame": 178, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 178, "end_frame": 245, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped the flyers."}, {"start_frame": 245, "end_frame": 367, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has clamped flyers and handed them over to the customer."}, {"start_frame": 367, "end_frame": 418, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot clamped flyers and handed one to the customer."}, {"start_frame": 418, "end_frame": 537, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has clamped flyers and handed them over to the customer multiple times."}, {"start_frame": 537, "end_frame": 585, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to the customer multiple times."}, {"start_frame": 585, "end_frame": 694, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has handed over flyers to the customer multiple times."}, {"start_frame": 694, "end_frame": 740, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot repeatedly clamped flyers and handed them to the customer."}, {"start_frame": 740, "end_frame": 855, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has handed over flyers to the customer multiple times."}, {"start_frame": 855, "end_frame": 903, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has handed over flyers to the customer multiple times."}, {"start_frame": 903, "end_frame": 992, "action_text": "clamp the flyer", "skill": "Clamp", "language_memory": "The robot has handed over flyers to the customer multiple times."}, {"start_frame": 992, "end_frame": 1035, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has handed over flyers to the customer multiple times."}, {"start_frame": 1035, "end_frame": 1130, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot repeatedly clamped flyers and handed them to the customer."}, {"start_frame": 1130, "end_frame": 1180, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot repeatedly clamped flyers and handed them over to the customer multiple times."}, {"start_frame": 1180, "end_frame": 1280, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot repeatedly clamped flyers and handed them over to the customer multiple times."}, {"start_frame": 1280, "end_frame": 1329, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot repeatedly clamped flyers and handed them over to the customer multiple times."}, {"start_frame": 1329, "end_frame": 1517, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot repeatedly clamped flyers and handed them over to the customer multiple times."}, {"start_frame": 1517, "end_frame": 1567, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot repeatedly clamped flyers and handed them over to the customer multiple times."}, {"start_frame": 1567, "end_frame": 1673, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot repeatedly clamped flyers and handed them over to the customer multiple times."}, {"start_frame": 1673, "end_frame": 1731, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot repeatedly clamped flyers and handed them over to the customer."}, {"start_frame": 1731, "end_frame": 2230, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot repeatedly clamped flyers and handed them over to the customer multiple times."}, {"start_frame": 2230, "end_frame": 2292, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot repeatedly clamped flyers and handed them over to the customer."}], "detailed_task_instruction": ["Clamp and hand over multiple flyers to the customer in a repeating sequence, ensuring each flyer is secured before being transferred. Continue this pattern of clamping and handing over flyers until all items are delivered, maintaining the specific order of securing each flyer followed immediately by its delivery to the customer."]}
{"task_id": "task_3777", "episode_index": 92, "video_path": "task_3777/videos/chunk-000/{video_key}/episode_000092.mp4", "tasks": ["Clean the desktop."], "length": 2093, "action_config": [{"start_frame": 105, "end_frame": 258, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 258, "end_frame": 310, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped the flyers."}, {"start_frame": 310, "end_frame": 458, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has clamped flyers and handed them over to the customer."}, {"start_frame": 458, "end_frame": 505, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot clamped flyers and handed one to the customer."}, {"start_frame": 505, "end_frame": 605, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has clamped flyers and handed them over to the customer multiple times."}, {"start_frame": 605, "end_frame": 651, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to the customer multiple times."}, {"start_frame": 651, "end_frame": 749, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has handed over flyers to the customer multiple times."}, {"start_frame": 749, "end_frame": 795, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot repeatedly clamped flyers and handed them to the customer."}, {"start_frame": 795, "end_frame": 931, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has handed over flyers to the customer multiple times."}, {"start_frame": 931, "end_frame": 981, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has handed over flyers to the customer multiple times."}, {"start_frame": 981, "end_frame": 1067, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has handed over flyers to the customer multiple times."}, {"start_frame": 1067, "end_frame": 1121, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot repeatedly clamped flyers and handed them to the customer."}, {"start_frame": 1121, "end_frame": 1285, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot repeatedly clamped flyers and handed them over to the customer multiple times."}, {"start_frame": 1285, "end_frame": 1336, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot repeatedly clamped flyers and handed them over to the customer multiple times."}, {"start_frame": 1336, "end_frame": 1473, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot repeatedly clamped flyers and handed them over to the customer multiple times."}, {"start_frame": 1473, "end_frame": 1524, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot repeatedly clamped flyers and handed them over to the customer."}, {"start_frame": 1524, "end_frame": 1970, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot repeatedly clamped flyers and handed them over to the customer multiple times."}, {"start_frame": 1970, "end_frame": 2080, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot repeatedly clamped flyers and handed them over to the customer."}], "detailed_task_instruction": ["The provided subtasks describe a repetitive sequence of clamping flyers and handing them to a customer, which contradicts the original goal of cleaning a desktop. As per the mandatory rule to use only the provided evidence and not invent unseen objects or operations, it is impossible to generate a detailed instruction for cleaning a desktop because the subtasks contain no information about cleaning, dust, trash, or desktop surfaces. Consequently, no valid detailed task instruction can be created that adheres to all constraints while reflecting the original intent."]}
{"task_id": "task_3777", "episode_index": 93, "video_path": "task_3777/videos/chunk-000/{video_key}/episode_000093.mp4", "tasks": ["Clean the desktop."], "length": 2026, "action_config": [{"start_frame": 0, "end_frame": 187, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 187, "end_frame": 240, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped the flyers."}, {"start_frame": 240, "end_frame": 358, "action_text": "clamp the flyer", "skill": "Clamp", "language_memory": "The robot has clamped flyers and handed them over to the customer."}, {"start_frame": 358, "end_frame": 405, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot clamped flyers and handed one to the customer."}, {"start_frame": 405, "end_frame": 505, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has clamped flyers and handed them over to the customer multiple times."}, {"start_frame": 505, "end_frame": 559, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to the customer multiple times."}, {"start_frame": 559, "end_frame": 655, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has handed over flyers to the customer multiple times."}, {"start_frame": 655, "end_frame": 731, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has handed over flyers to the customer multiple times."}, {"start_frame": 731, "end_frame": 929, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has handed over flyers to the customer multiple times."}, {"start_frame": 929, "end_frame": 979, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot repeatedly clamped flyers and handed them to the customer."}, {"start_frame": 979, "end_frame": 1243, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot repeatedly clamped flyers and handed them to the customer."}, {"start_frame": 1243, "end_frame": 1291, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot repeatedly clamped flyers and handed them to the customer."}, {"start_frame": 1291, "end_frame": 1424, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot repeatedly clamped flyers and handed them over to the customer multiple times."}, {"start_frame": 1424, "end_frame": 1474, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot repeatedly clamped flyers and handed them to the customer."}, {"start_frame": 1474, "end_frame": 1726, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot repeatedly clamped flyers and handed them over to the customer."}, {"start_frame": 1726, "end_frame": 1786, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot repeatedly clamped flyers and handed them over to the customer."}, {"start_frame": 1786, "end_frame": 1946, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot repeatedly clamped flyers and handed them over to the customer multiple times."}, {"start_frame": 1946, "end_frame": 2025, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot repeatedly clamped flyers and handed them over to the customer."}], "detailed_task_instruction": ["The provided subtasks describe a repetitive sequence of clamping flyers and handing them to a customer, which contradicts the original goal of cleaning a desktop. As per the mandatory rules, I cannot invent unseen objects, containers, rooms, states, or extra operations to align the subtasks with the original goal. Since the subtasks exclusively detail a service interaction involving flyers and a customer rather than any cleaning activity, it is impossible to rewrite the instruction to be more specific about cleaning the desktop without violating the rule to use only provided evidence. Therefore, no valid detailed task instruction can be generated that satisfies both the original goal and the provided subtask evidence."]}
{"task_id": "task_3777", "episode_index": 94, "video_path": "task_3777/videos/chunk-000/{video_key}/episode_000094.mp4", "tasks": ["Clean the desktop."], "length": 2033, "action_config": [{"start_frame": 35, "end_frame": 146, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 146, "end_frame": 207, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped the flyers."}, {"start_frame": 207, "end_frame": 333, "action_text": "clamp the flyer", "skill": "Clamp", "language_memory": "The robot has clamped flyers and handed them over to the customer."}, {"start_frame": 333, "end_frame": 388, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot clamped flyers and handed one to the customer."}, {"start_frame": 388, "end_frame": 521, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has clamped flyers and handed them over to the customer multiple times."}, {"start_frame": 521, "end_frame": 567, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to the customer multiple times."}, {"start_frame": 567, "end_frame": 652, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has handed over flyers to the customer multiple times."}, {"start_frame": 652, "end_frame": 703, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has handed over flyers to the customer multiple times."}, {"start_frame": 703, "end_frame": 832, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has handed over flyers to the customer multiple times."}, {"start_frame": 832, "end_frame": 883, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot repeatedly clamped flyers and handed them to the customer."}, {"start_frame": 883, "end_frame": 990, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot repeatedly clamped flyers and handed them to the customer."}, {"start_frame": 990, "end_frame": 1046, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot repeatedly clamped flyers and handed them to the customer."}, {"start_frame": 1046, "end_frame": 1225, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot repeatedly clamped flyers and handed them over to the customer multiple times."}, {"start_frame": 1225, "end_frame": 1277, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot repeatedly clamped flyers and handed them to the customer."}, {"start_frame": 1277, "end_frame": 1395, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot repeatedly clamped flyers and handed them over to the customer."}, {"start_frame": 1395, "end_frame": 1442, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot repeatedly clamped flyers and handed them over to the customer."}, {"start_frame": 1442, "end_frame": 1524, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot repeatedly clamped flyers and handed them over to the customer multiple times."}, {"start_frame": 1524, "end_frame": 1580, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot repeatedly clamped flyers and handed them over to the customer."}, {"start_frame": 1580, "end_frame": 1693, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot repeatedly clamped flyers and handed them over to the customer."}, {"start_frame": 1693, "end_frame": 1740, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot repeatedly clamped flyers and handed them over to the customer."}, {"start_frame": 1740, "end_frame": 1957, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot repeatedly clamped flyers and handed them over to the customer."}, {"start_frame": 1957, "end_frame": 2032, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot repeatedly clamped flyers and handed them over to the customer."}], "detailed_task_instruction": ["The provided subtasks describe a repetitive sequence of clamping flyers and handing them to a customer, which contradicts the original goal of cleaning a desktop. As per the mandatory rules, I cannot invent unseen objects, containers, rooms, states, or extra operations to align the subtasks with the original goal. Since the only available evidence (the subtasks) details a service interaction rather than a cleaning process, and I am strictly forbidden from inventing details to force a match, I cannot generate a detailed task instruction that both adheres to the subtasks and preserves the true goal of cleaning the desktop. Therefore, no valid output can be produced under the current constraints."]}
{"task_id": "task_3777", "episode_index": 95, "video_path": "task_3777/videos/chunk-000/{video_key}/episode_000095.mp4", "tasks": ["Clean the desktop."], "length": 2086, "action_config": [{"start_frame": 0, "end_frame": 166, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 166, "end_frame": 229, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped the flyers."}, {"start_frame": 229, "end_frame": 322, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has clamped flyers and handed them over to the customer."}, {"start_frame": 322, "end_frame": 375, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot clamped flyers and handed one to the customer."}, {"start_frame": 375, "end_frame": 509, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has clamped flyers and handed them over to the customer multiple times."}, {"start_frame": 509, "end_frame": 560, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to the customer multiple times."}, {"start_frame": 560, "end_frame": 708, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has handed over flyers to the customer multiple times."}, {"start_frame": 708, "end_frame": 755, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot repeatedly clamped flyers and handed them to the customer."}, {"start_frame": 755, "end_frame": 867, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has handed over flyers to the customer multiple times."}, {"start_frame": 867, "end_frame": 919, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has handed over flyers to the customer multiple times."}, {"start_frame": 919, "end_frame": 1120, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has handed over flyers to the customer multiple times."}, {"start_frame": 1120, "end_frame": 1166, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot repeatedly clamped flyers and handed them to the customer."}, {"start_frame": 1166, "end_frame": 1295, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot repeatedly clamped flyers and handed them over to the customer multiple times."}, {"start_frame": 1295, "end_frame": 1354, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot repeatedly clamped flyers and handed them over to the customer multiple times."}, {"start_frame": 1354, "end_frame": 2003, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot repeatedly clamped flyers and handed them over to the customer multiple times."}, {"start_frame": 2003, "end_frame": 2085, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot repeatedly clamped flyers and handed them over to the customer."}], "detailed_task_instruction": ["The provided subtasks describe a repetitive sequence of clamping flyers and handing them to a customer, which contradicts the original goal of cleaning a desktop. As per the mandatory rules, I cannot invent unseen objects, containers, rooms, states, or extra operations to align the subtasks with the original goal. Since the subtasks do not contain any information regarding cleaning, dusting, or organizing a desktop, and inventing such details would violate the rule to use only provided evidence, it is impossible to generate a detailed task instruction that both preserves the true goal of cleaning the desktop and strictly adheres to the provided subtask list. Therefore, no valid output can be produced under the given constraints."]}
{"task_id": "task_3777", "episode_index": 96, "video_path": "task_3777/videos/chunk-000/{video_key}/episode_000096.mp4", "tasks": ["Clean the desktop."], "length": 2111, "action_config": [{"start_frame": 40, "end_frame": 200, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 200, "end_frame": 264, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped the flyers."}, {"start_frame": 264, "end_frame": 403, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has clamped flyers and handed them over to the customer."}, {"start_frame": 403, "end_frame": 483, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot clamped flyers and handed one to the customer."}, {"start_frame": 483, "end_frame": 568, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has clamped flyers and handed them over to the customer multiple times."}, {"start_frame": 568, "end_frame": 647, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to the customer multiple times."}, {"start_frame": 647, "end_frame": 744, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has handed over flyers to the customer multiple times."}, {"start_frame": 744, "end_frame": 801, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot repeatedly clamped flyers and handed them to the customer."}, {"start_frame": 801, "end_frame": 879, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has handed over flyers to the customer multiple times."}, {"start_frame": 879, "end_frame": 935, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has handed over flyers to the customer multiple times."}, {"start_frame": 935, "end_frame": 1049, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has handed over flyers to the customer multiple times."}, {"start_frame": 1049, "end_frame": 1095, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot repeatedly clamped flyers and handed them to the customer."}, {"start_frame": 1095, "end_frame": 1238, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot repeatedly clamped flyers and handed them over to the customer multiple times."}, {"start_frame": 1238, "end_frame": 1286, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot repeatedly clamped flyers and handed them over to the customer multiple times."}, {"start_frame": 1286, "end_frame": 1455, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot repeatedly clamped flyers and handed them over to the customer multiple times."}, {"start_frame": 1455, "end_frame": 1510, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot repeatedly clamped flyers and handed them over to the customer."}, {"start_frame": 1510, "end_frame": 1925, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot repeatedly clamped flyers and handed them over to the customer multiple times."}, {"start_frame": 1925, "end_frame": 1973, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot repeatedly clamped flyers and handed them over to the customer."}, {"start_frame": 1973, "end_frame": 2028, "action_text": "clamp the flyer", "skill": "Clamp", "language_memory": "The robot repeatedly clamped flyers and handed them over to the customer multiple times."}, {"start_frame": 2028, "end_frame": 2092, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot repeatedly clamped flyers and handed them to the customer."}], "detailed_task_instruction": ["Clamp and hand over multiple flyers to the customer in a repeating sequence, ensuring each flyer is secured before being transferred. Continue this pattern of clamping and handing over flyers until all items, including the final single flyer, have been successfully delivered to the customer."]}
{"task_id": "task_3777", "episode_index": 97, "video_path": "task_3777/videos/chunk-000/{video_key}/episode_000097.mp4", "tasks": ["Clean the desktop."], "length": 1925, "action_config": [{"start_frame": 45, "end_frame": 200, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 200, "end_frame": 247, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped the flyers."}, {"start_frame": 247, "end_frame": 311, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has clamped flyers and handed them over to the customer."}, {"start_frame": 311, "end_frame": 359, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot clamped flyers and handed one to the customer."}, {"start_frame": 359, "end_frame": 483, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has clamped flyers and handed them over to the customer multiple times."}, {"start_frame": 483, "end_frame": 530, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to the customer multiple times."}, {"start_frame": 530, "end_frame": 619, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has handed over flyers to the customer multiple times."}, {"start_frame": 619, "end_frame": 663, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot repeatedly clamped flyers and handed them to the customer."}, {"start_frame": 663, "end_frame": 742, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has handed over flyers to the customer multiple times."}, {"start_frame": 742, "end_frame": 795, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has handed over flyers to the customer multiple times."}, {"start_frame": 795, "end_frame": 873, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has handed over flyers to the customer multiple times."}, {"start_frame": 873, "end_frame": 923, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot repeatedly clamped flyers and handed them to the customer."}, {"start_frame": 923, "end_frame": 1069, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot repeatedly clamped flyers and handed them over to the customer multiple times."}, {"start_frame": 1069, "end_frame": 1115, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot repeatedly clamped flyers and handed them over to the customer multiple times."}, {"start_frame": 1115, "end_frame": 1499, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot repeatedly clamped flyers and handed them over to the customer multiple times."}, {"start_frame": 1499, "end_frame": 1544, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot repeatedly clamped flyers and handed them over to the customer."}, {"start_frame": 1544, "end_frame": 1700, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot repeatedly clamped flyers and handed them over to the customer multiple times."}, {"start_frame": 1700, "end_frame": 1747, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot repeatedly clamped flyers and handed them over to the customer."}, {"start_frame": 1747, "end_frame": 1865, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot repeatedly clamped flyers and handed them over to the customer multiple times."}, {"start_frame": 1865, "end_frame": 1924, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot repeatedly clamped flyers and handed them over to the customer."}], "detailed_task_instruction": ["The provided subtasks describe a repetitive sequence of clamping flyers and handing them to a customer, which contradicts the original goal of cleaning a desktop. As per the mandatory rule to use only the provided evidence and not invent unseen objects or operations, it is impossible to generate a detailed instruction for cleaning a desktop. The available subtasks do not contain any information regarding cleaning, dusting, organizing, or manipulating desktop items. Therefore, no valid detailed task instruction can be created that adheres to the constraint of using only the provided subtasks while preserving the true goal of cleaning the desktop."]}
{"task_id": "task_3777", "episode_index": 98, "video_path": "task_3777/videos/chunk-000/{video_key}/episode_000098.mp4", "tasks": ["Clean the desktop."], "length": 2081, "action_config": [{"start_frame": 35, "end_frame": 185, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 185, "end_frame": 243, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped the flyers."}, {"start_frame": 243, "end_frame": 343, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has clamped flyers and handed them over to the customer."}, {"start_frame": 343, "end_frame": 401, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot clamped flyers and handed one to the customer."}, {"start_frame": 401, "end_frame": 641, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has clamped flyers and handed them over to the customer multiple times."}, {"start_frame": 641, "end_frame": 705, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to the customer multiple times."}, {"start_frame": 705, "end_frame": 773, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has handed over flyers to the customer multiple times."}, {"start_frame": 773, "end_frame": 820, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot repeatedly clamped flyers and handed them to the customer."}, {"start_frame": 820, "end_frame": 968, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has handed over flyers to the customer multiple times."}, {"start_frame": 968, "end_frame": 1027, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has handed over flyers to the customer multiple times."}, {"start_frame": 1027, "end_frame": 1121, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has handed over flyers to the customer multiple times."}, {"start_frame": 1121, "end_frame": 1168, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot repeatedly clamped flyers and handed them to the customer."}, {"start_frame": 1168, "end_frame": 1292, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot repeatedly clamped flyers and handed them over to the customer multiple times."}, {"start_frame": 1292, "end_frame": 1340, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot repeatedly clamped flyers and handed them over to the customer multiple times."}, {"start_frame": 1340, "end_frame": 1448, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot repeatedly clamped flyers and handed them over to the customer multiple times."}, {"start_frame": 1448, "end_frame": 1504, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot repeatedly clamped flyers and handed them over to the customer."}, {"start_frame": 1504, "end_frame": 1628, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot repeatedly clamped flyers and handed them over to the customer multiple times."}, {"start_frame": 1628, "end_frame": 1671, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot repeatedly clamped flyers and handed them over to the customer."}, {"start_frame": 1671, "end_frame": 2004, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot repeatedly clamped flyers and handed them over to the customer multiple times."}, {"start_frame": 2004, "end_frame": 2080, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot repeatedly clamped flyers and handed them over to the customer."}], "detailed_task_instruction": ["The provided subtasks describe a repetitive sequence of clamping flyers and handing them to a customer, which contradicts the original goal of cleaning a desktop. As per the mandatory rule to use only the provided evidence and not invent unseen objects or operations, it is impossible to generate a detailed instruction for cleaning a desktop. The available subtasks do not contain any information regarding cleaning, dusting, organizing, or manipulating desktop items. Therefore, no valid detailed task instruction can be created that adheres to the constraint of using only the provided subtasks while preserving the true goal of cleaning the desktop."]}
{"task_id": "task_4053", "episode_index": 0, "video_path": "task_4053/videos/chunk-000/{video_key}/episode_000000.mp4", "tasks": ["Handing out flyers."], "length": 1621, "action_config": [{"start_frame": 0, "end_frame": 143, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 143, "end_frame": 202, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped the flyers."}, {"start_frame": 202, "end_frame": 419, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has clamped flyers and handed them to customers."}, {"start_frame": 419, "end_frame": 481, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them to customers."}, {"start_frame": 481, "end_frame": 606, "action_text": "clamp the flyer", "skill": "Clamp", "language_memory": "The robot has clamped flyers and handed them over to customers."}, {"start_frame": 606, "end_frame": 692, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to customers multiple times."}, {"start_frame": 692, "end_frame": 865, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has clamped flyers and handed them over to customers multiple times."}, {"start_frame": 865, "end_frame": 924, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to customers multiple times."}, {"start_frame": 924, "end_frame": 1066, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully clamped flyers and handed them over to customers multiple times."}, {"start_frame": 1066, "end_frame": 1130, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has successfully clamped flyers and handed them over to customers multiple times."}, {"start_frame": 1130, "end_frame": 1307, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully clamped flyers and handed them over to the customer multiple times."}, {"start_frame": 1307, "end_frame": 1372, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has successfully clamped and handed out flyers to multiple customers."}, {"start_frame": 1372, "end_frame": 1541, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully handed out flyers to multiple customers."}, {"start_frame": 1541, "end_frame": 1620, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has successfully clamped flyers and handed them over to multiple customers."}], "detailed_task_instruction": ["Clamp a flyer and hand it to the customer, then repeat this process for multiple flyers, clamping each one before handing it over to the customer in a continuous sequence until all flyers have been distributed."]}
{"task_id": "task_4053", "episode_index": 1, "video_path": "task_4053/videos/chunk-000/{video_key}/episode_000001.mp4", "tasks": ["Handing out flyers."], "length": 1632, "action_config": [{"start_frame": 0, "end_frame": 240, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 240, "end_frame": 315, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped the flyers."}, {"start_frame": 315, "end_frame": 485, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has clamped flyers and handed them to customers."}, {"start_frame": 485, "end_frame": 549, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them to customers."}, {"start_frame": 549, "end_frame": 667, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has clamped flyers and handed them over to customers."}, {"start_frame": 667, "end_frame": 731, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to customers multiple times."}, {"start_frame": 731, "end_frame": 893, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully handed out flyers to customers multiple times."}, {"start_frame": 893, "end_frame": 953, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to customers multiple times."}, {"start_frame": 953, "end_frame": 1078, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully handed out flyers to multiple customers."}, {"start_frame": 1078, "end_frame": 1141, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to customers multiple times."}, {"start_frame": 1141, "end_frame": 1276, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully handed out flyers to multiple customers."}, {"start_frame": 1276, "end_frame": 1359, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to customers multiple times."}, {"start_frame": 1359, "end_frame": 1569, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully handed out flyers to multiple customers."}, {"start_frame": 1569, "end_frame": 1631, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to multiple customers."}], "detailed_task_instruction": ["Clamp a flyer and hand it over to the customer, then repeat this sequence of clamping a flyer and handing it to the customer six more times to distribute a total of seven flyers."]}
{"task_id": "task_4053", "episode_index": 2, "video_path": "task_4053/videos/chunk-000/{video_key}/episode_000002.mp4", "tasks": ["Handing out flyers."], "length": 1732, "action_config": [{"start_frame": 0, "end_frame": 116, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 116, "end_frame": 178, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped the flyers."}, {"start_frame": 178, "end_frame": 352, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has clamped flyers and handed them to customers."}, {"start_frame": 352, "end_frame": 415, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them to customers."}, {"start_frame": 415, "end_frame": 557, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has clamped flyers and handed them over to customers."}, {"start_frame": 557, "end_frame": 644, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to customers multiple times."}, {"start_frame": 644, "end_frame": 800, "action_text": "clamp the flyer", "skill": "Clamp", "language_memory": "The robot has successfully handed out flyers to customers multiple times."}, {"start_frame": 800, "end_frame": 861, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to customers multiple times."}, {"start_frame": 861, "end_frame": 1045, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully handed out flyers to multiple customers."}, {"start_frame": 1045, "end_frame": 1105, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has successfully handed out flyers to multiple customers."}, {"start_frame": 1105, "end_frame": 1212, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully clamped flyers and handed them over to multiple customers."}, {"start_frame": 1212, "end_frame": 1276, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has successfully clamped flyers and handed them over to multiple customers."}, {"start_frame": 1276, "end_frame": 1438, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully handed out flyers to multiple customers."}, {"start_frame": 1438, "end_frame": 1517, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has successfully clamped flyers and handed them over to multiple customers."}, {"start_frame": 1517, "end_frame": 1675, "action_text": "clamp the flyer", "skill": "Clamp", "language_memory": "The robot has successfully handed out flyers to multiple customers."}, {"start_frame": 1675, "end_frame": 1731, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has repeatedly clamped flyers and handed them to customers."}], "detailed_task_instruction": ["Clamp a flyer and hand it to the customer, then repeat this process for multiple flyers, alternating between clamping and handing over each one to the customer until all flyers have been distributed."]}
{"task_id": "task_4053", "episode_index": 3, "video_path": "task_4053/videos/chunk-000/{video_key}/episode_000003.mp4", "tasks": ["Handing out flyers."], "length": 1829, "action_config": [{"start_frame": 0, "end_frame": 198, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 198, "end_frame": 271, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped the flyers."}, {"start_frame": 271, "end_frame": 467, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has clamped flyers and handed them to customers."}, {"start_frame": 467, "end_frame": 530, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them to customers."}, {"start_frame": 530, "end_frame": 645, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has clamped flyers and handed them over to customers."}, {"start_frame": 645, "end_frame": 717, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to customers multiple times."}, {"start_frame": 717, "end_frame": 917, "action_text": "clamp the flyer", "skill": "Clamp", "language_memory": "The robot has successfully handed out flyers to customers multiple times."}, {"start_frame": 917, "end_frame": 979, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to customers multiple times."}, {"start_frame": 979, "end_frame": 1156, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully handed out flyers to multiple customers."}, {"start_frame": 1156, "end_frame": 1215, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has successfully handed out flyers to multiple customers."}, {"start_frame": 1215, "end_frame": 1370, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully clamped flyers and handed them over to multiple customers."}, {"start_frame": 1370, "end_frame": 1422, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has successfully clamped flyers and handed them over to multiple customers."}, {"start_frame": 1422, "end_frame": 1717, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully handed out flyers to multiple customers."}, {"start_frame": 1717, "end_frame": 1782, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has successfully clamped flyers and handed them over to multiple customers."}], "detailed_task_instruction": ["Clamp a flyer and hand it to the customer, then repeat this process for multiple flyers, ensuring each one is clamped before being handed over to the customer in a continuous sequence."]}
{"task_id": "task_4053", "episode_index": 4, "video_path": "task_4053/videos/chunk-000/{video_key}/episode_000004.mp4", "tasks": ["Handing out flyers."], "length": 1749, "action_config": [{"start_frame": 0, "end_frame": 148, "action_text": "clamp the flyer", "skill": "Clamp", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 148, "end_frame": 221, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The flyer has been clamped."}, {"start_frame": 221, "end_frame": 372, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has clamped a flyer and handed it to the customer."}, {"start_frame": 372, "end_frame": 441, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them to customers."}, {"start_frame": 441, "end_frame": 583, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has clamped flyers and handed them over to customers."}, {"start_frame": 583, "end_frame": 648, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to customers multiple times."}, {"start_frame": 648, "end_frame": 779, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully handed out multiple flyers to customers."}, {"start_frame": 779, "end_frame": 839, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has successfully handed out multiple flyers to customers."}, {"start_frame": 839, "end_frame": 994, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully handed out multiple flyers to customers."}, {"start_frame": 994, "end_frame": 1050, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has successfully handed out multiple flyers to customers."}, {"start_frame": 1050, "end_frame": 1198, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully handed out multiple flyers to customers."}, {"start_frame": 1198, "end_frame": 1257, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has successfully handed out multiple flyers to customers."}, {"start_frame": 1257, "end_frame": 1442, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully handed out multiple flyers to customers."}, {"start_frame": 1442, "end_frame": 1512, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has successfully handed out flyers to multiple customers."}, {"start_frame": 1512, "end_frame": 1701, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully handed out flyers to multiple customers."}, {"start_frame": 1701, "end_frame": 1748, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has successfully handed out flyers to multiple customers."}], "detailed_task_instruction": ["Clamp a flyer and hand it over to the customer, then repeat this sequence of clamping flyers and handing them to the customer multiple times until all flyers have been distributed."]}
{"task_id": "task_4053", "episode_index": 5, "video_path": "task_4053/videos/chunk-000/{video_key}/episode_000005.mp4", "tasks": ["Handing out flyers."], "length": 1744, "action_config": [{"start_frame": 0, "end_frame": 215, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 215, "end_frame": 293, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped the flyers."}, {"start_frame": 293, "end_frame": 479, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has clamped flyers and handed them to customers."}, {"start_frame": 479, "end_frame": 543, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them to customers."}, {"start_frame": 543, "end_frame": 772, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has clamped flyers and handed them over to customers."}, {"start_frame": 772, "end_frame": 842, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to customers multiple times."}, {"start_frame": 842, "end_frame": 1019, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully handed out flyers to customers multiple times."}, {"start_frame": 1019, "end_frame": 1095, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to customers multiple times."}, {"start_frame": 1095, "end_frame": 1235, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully handed out flyers to multiple customers."}, {"start_frame": 1235, "end_frame": 1303, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to customers multiple times."}, {"start_frame": 1303, "end_frame": 1463, "action_text": "clamp the flyer", "skill": "Clamp", "language_memory": "The robot has successfully handed out flyers to multiple customers."}, {"start_frame": 1463, "end_frame": 1525, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped and handed out flyers to multiple customers."}], "detailed_task_instruction": ["Secure a stack of flyers using a clamp and hand one to the customer. Repeat this process of clamping the flyers and handing them over to the customer multiple times until the stack is distributed. Finally, clamp the last remaining flyer and hand it to the customer to complete the distribution."]}
{"task_id": "task_4053", "episode_index": 6, "video_path": "task_4053/videos/chunk-000/{video_key}/episode_000006.mp4", "tasks": ["Handing out flyers."], "length": 1605, "action_config": [{"start_frame": 0, "end_frame": 209, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 209, "end_frame": 281, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped the flyers."}, {"start_frame": 281, "end_frame": 427, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has clamped flyers and handed them to customers."}, {"start_frame": 427, "end_frame": 493, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them to customers."}, {"start_frame": 493, "end_frame": 697, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has clamped flyers and handed them over to customers."}, {"start_frame": 697, "end_frame": 766, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to customers multiple times."}, {"start_frame": 766, "end_frame": 1001, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully handed out flyers to customers multiple times."}, {"start_frame": 1001, "end_frame": 1062, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to customers multiple times."}, {"start_frame": 1062, "end_frame": 1277, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully handed out flyers to multiple customers."}, {"start_frame": 1277, "end_frame": 1341, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to customers multiple times."}, {"start_frame": 1341, "end_frame": 1547, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully handed out flyers to multiple customers."}, {"start_frame": 1547, "end_frame": 1604, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to customers multiple times."}], "detailed_task_instruction": ["Clamp a flyer and hand it to the customer, then repeat this sequence of clamping a flyer and handing it to the customer five more times to distribute a total of six flyers."]}
{"task_id": "task_4053", "episode_index": 7, "video_path": "task_4053/videos/chunk-000/{video_key}/episode_000007.mp4", "tasks": ["Handing out flyers."], "length": 1570, "action_config": [{"start_frame": 0, "end_frame": 256, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 256, "end_frame": 320, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped the flyers."}, {"start_frame": 320, "end_frame": 443, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has clamped flyers and handed them to customers."}, {"start_frame": 443, "end_frame": 504, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them to customers."}, {"start_frame": 504, "end_frame": 639, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has clamped flyers and handed them over to customers."}, {"start_frame": 639, "end_frame": 705, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to customers multiple times."}, {"start_frame": 705, "end_frame": 832, "action_text": "clamp the flyer", "skill": "Clamp", "language_memory": "The robot has successfully handed out flyers to customers multiple times."}, {"start_frame": 832, "end_frame": 896, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to customers multiple times."}, {"start_frame": 896, "end_frame": 1039, "action_text": "clamp the flyer", "skill": "Clamp", "language_memory": "The robot has successfully handed out flyers to multiple customers."}, {"start_frame": 1039, "end_frame": 1106, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has successfully handed out flyers to multiple customers."}, {"start_frame": 1106, "end_frame": 1233, "action_text": "clamp the flyer", "skill": "Clamp", "language_memory": "The robot has successfully handed out flyers to multiple customers."}, {"start_frame": 1233, "end_frame": 1308, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has successfully handed out flyers to multiple customers."}, {"start_frame": 1308, "end_frame": 1504, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully handed out flyers to multiple customers."}, {"start_frame": 1504, "end_frame": 1569, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has successfully handed out flyers to multiple customers."}], "detailed_task_instruction": ["Clamp a flyer and hand it to the customer, then repeat this sequence of clamping a flyer and handing it to the customer multiple times until all flyers have been distributed."]}
{"task_id": "task_4053", "episode_index": 8, "video_path": "task_4053/videos/chunk-000/{video_key}/episode_000008.mp4", "tasks": ["Handing out flyers."], "length": 1715, "action_config": [{"start_frame": 0, "end_frame": 179, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 179, "end_frame": 238, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped the flyers."}, {"start_frame": 238, "end_frame": 376, "action_text": "clamp the flyer", "skill": "Clamp", "language_memory": "The robot has clamped flyers and handed them to customers."}, {"start_frame": 376, "end_frame": 437, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them to customers."}, {"start_frame": 437, "end_frame": 548, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has clamped flyers and handed them over to customers."}, {"start_frame": 548, "end_frame": 608, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to the customer multiple times."}, {"start_frame": 608, "end_frame": 839, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully clamped flyers and handed them over to customers multiple times."}, {"start_frame": 839, "end_frame": 897, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has successfully clamped flyers and handed them over to customers multiple times."}, {"start_frame": 897, "end_frame": 1224, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully clamped flyers and handed them over to customers multiple times."}, {"start_frame": 1224, "end_frame": 1288, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to customers multiple times."}, {"start_frame": 1288, "end_frame": 1447, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully clamped and handed out flyers to customers multiple times."}, {"start_frame": 1447, "end_frame": 1504, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to the customer multiple times."}, {"start_frame": 1504, "end_frame": 1652, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully clamped and handed out flyers to multiple customers."}, {"start_frame": 1652, "end_frame": 1714, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to customers multiple times."}], "detailed_task_instruction": ["Clamp a flyer and hand it over to the customer, then repeat this sequence of clamping a flyer and handing it to the customer multiple times to distribute the flyers."]}
{"task_id": "task_4053", "episode_index": 9, "video_path": "task_4053/videos/chunk-000/{video_key}/episode_000009.mp4", "tasks": ["Handing out flyers."], "length": 1591, "action_config": [{"start_frame": 0, "end_frame": 197, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 197, "end_frame": 286, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped the flyers."}, {"start_frame": 286, "end_frame": 420, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has clamped flyers and handed them to customers."}, {"start_frame": 420, "end_frame": 489, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them to customers."}, {"start_frame": 489, "end_frame": 591, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has clamped flyers and handed them over to customers."}, {"start_frame": 591, "end_frame": 663, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to customers multiple times."}, {"start_frame": 663, "end_frame": 781, "action_text": "clamp the flyer", "skill": "Clamp", "language_memory": "The robot has successfully handed out flyers to customers multiple times."}, {"start_frame": 781, "end_frame": 840, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to customers multiple times."}, {"start_frame": 840, "end_frame": 975, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully handed out flyers to multiple customers."}, {"start_frame": 975, "end_frame": 1049, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has successfully handed out flyers to multiple customers."}, {"start_frame": 1049, "end_frame": 1186, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully clamped flyers and handed them over to multiple customers."}, {"start_frame": 1186, "end_frame": 1262, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has successfully clamped flyers and handed them over to multiple customers."}, {"start_frame": 1262, "end_frame": 1525, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully handed out flyers to multiple customers."}, {"start_frame": 1525, "end_frame": 1590, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has successfully clamped flyers and handed them over to multiple customers."}], "detailed_task_instruction": ["Clamp a flyer and hand it to the customer, then repeat this process for multiple flyers, ensuring each one is clamped before being handed over to the customer in a continuous sequence."]}
{"task_id": "task_4053", "episode_index": 10, "video_path": "task_4053/videos/chunk-000/{video_key}/episode_000010.mp4", "tasks": ["Handing out flyers."], "length": 2051, "action_config": [{"start_frame": 0, "end_frame": 248, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 248, "end_frame": 317, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped the flyers."}, {"start_frame": 317, "end_frame": 593, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has clamped flyers and handed them to customers."}, {"start_frame": 593, "end_frame": 657, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them to customers."}, {"start_frame": 657, "end_frame": 767, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has clamped flyers and handed them over to customers."}, {"start_frame": 767, "end_frame": 835, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to customers multiple times."}, {"start_frame": 835, "end_frame": 964, "action_text": "clamp the flyer", "skill": "Clamp", "language_memory": "The robot has successfully handed out flyers to customers multiple times."}, {"start_frame": 964, "end_frame": 1056, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to customers multiple times."}, {"start_frame": 1056, "end_frame": 1186, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully handed out flyers to multiple customers."}, {"start_frame": 1186, "end_frame": 1266, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has successfully handed out flyers to multiple customers."}, {"start_frame": 1266, "end_frame": 1416, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully clamped flyers and handed them over to multiple customers."}, {"start_frame": 1416, "end_frame": 1502, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has successfully clamped flyers and handed them over to multiple customers."}, {"start_frame": 1502, "end_frame": 1715, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully handed out flyers to multiple customers."}, {"start_frame": 1715, "end_frame": 1785, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has successfully clamped flyers and handed them over to multiple customers."}, {"start_frame": 1785, "end_frame": 1984, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully handed out flyers to multiple customers."}, {"start_frame": 1984, "end_frame": 2050, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has successfully handed out flyers to multiple customers."}], "detailed_task_instruction": ["Clamp a flyer and hand it to the customer, then repeat this process for multiple flyers, ensuring each flyer is clamped before being handed over to the customer in a continuous sequence."]}
{"task_id": "task_4053", "episode_index": 11, "video_path": "task_4053/videos/chunk-000/{video_key}/episode_000011.mp4", "tasks": ["Handing out flyers."], "length": 2085, "action_config": [{"start_frame": 0, "end_frame": 137, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 137, "end_frame": 203, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped the flyers."}, {"start_frame": 203, "end_frame": 313, "action_text": "clamp the flyer", "skill": "Clamp", "language_memory": "The robot has clamped flyers and handed them to customers."}, {"start_frame": 313, "end_frame": 377, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them to customers."}, {"start_frame": 377, "end_frame": 510, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has clamped flyers and handed them over to customers."}, {"start_frame": 510, "end_frame": 581, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to the customer multiple times."}, {"start_frame": 581, "end_frame": 719, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully clamped flyers and handed them over to customers multiple times."}, {"start_frame": 719, "end_frame": 781, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has successfully clamped flyers and handed them over to customers multiple times."}, {"start_frame": 781, "end_frame": 1065, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully clamped flyers and handed them over to customers multiple times."}, {"start_frame": 1065, "end_frame": 1124, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to customers multiple times."}, {"start_frame": 1124, "end_frame": 1292, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully clamped and handed out flyers to customers multiple times."}, {"start_frame": 1292, "end_frame": 1362, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to the customer multiple times."}, {"start_frame": 1362, "end_frame": 1500, "action_text": "clamp the flyer", "skill": "Clamp", "language_memory": "The robot has successfully clamped and handed out flyers to multiple customers."}, {"start_frame": 1500, "end_frame": 1570, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has successfully clamped and handed out flyers to multiple customers."}, {"start_frame": 1570, "end_frame": 2028, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully clamped and handed out flyers to multiple customers."}, {"start_frame": 2028, "end_frame": 2084, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has repeatedly clamped flyers and handed them over to customers."}], "detailed_task_instruction": ["Clamp a flyer and hand it to the customer, then repeat this sequence of clamping flyers and handing them to the customer multiple times until all flyers have been distributed."]}
{"task_id": "task_4053", "episode_index": 12, "video_path": "task_4053/videos/chunk-000/{video_key}/episode_000012.mp4", "tasks": ["Handing out flyers."], "length": 1600, "action_config": [{"start_frame": 0, "end_frame": 184, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 184, "end_frame": 241, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped the flyers."}, {"start_frame": 241, "end_frame": 370, "action_text": "clamp the flyer", "skill": "Clamp", "language_memory": "The robot has clamped flyers and handed them to customers."}, {"start_frame": 370, "end_frame": 429, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them to customers."}, {"start_frame": 429, "end_frame": 626, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has clamped flyers and handed them over to customers."}, {"start_frame": 626, "end_frame": 680, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to the customer multiple times."}, {"start_frame": 680, "end_frame": 865, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully clamped flyers and handed them over to customers multiple times."}, {"start_frame": 865, "end_frame": 930, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has successfully clamped flyers and handed them over to customers multiple times."}, {"start_frame": 930, "end_frame": 1061, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully clamped flyers and handed them over to customers multiple times."}, {"start_frame": 1061, "end_frame": 1122, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to customers multiple times."}, {"start_frame": 1122, "end_frame": 1324, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully clamped and handed out flyers to customers multiple times."}, {"start_frame": 1324, "end_frame": 1385, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to the customer multiple times."}, {"start_frame": 1385, "end_frame": 1525, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully clamped and handed out flyers to multiple customers."}, {"start_frame": 1525, "end_frame": 1599, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to customers multiple times."}], "detailed_task_instruction": ["Clamp a flyer and hand it over to the customer, then repeat this sequence of clamping a flyer and handing it to the customer multiple times to distribute the flyers."]}
{"task_id": "task_4053", "episode_index": 13, "video_path": "task_4053/videos/chunk-000/{video_key}/episode_000013.mp4", "tasks": ["Handing out flyers."], "length": 1595, "action_config": [{"start_frame": 0, "end_frame": 138, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 138, "end_frame": 195, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped the flyers."}, {"start_frame": 195, "end_frame": 617, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has clamped flyers and handed them to customers."}, {"start_frame": 617, "end_frame": 673, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them to customers."}, {"start_frame": 673, "end_frame": 876, "action_text": "clamp the flyer", "skill": "Clamp", "language_memory": "The robot has clamped flyers and handed them over to customers."}, {"start_frame": 876, "end_frame": 933, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to customers multiple times."}, {"start_frame": 933, "end_frame": 1101, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has clamped flyers and handed them over to customers multiple times."}, {"start_frame": 1101, "end_frame": 1164, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to customers multiple times."}, {"start_frame": 1164, "end_frame": 1325, "action_text": "clamp the flyer", "skill": "Clamp", "language_memory": "The robot has successfully clamped flyers and handed them over to customers multiple times."}, {"start_frame": 1325, "end_frame": 1382, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has successfully clamped and handed out flyers to multiple customers."}, {"start_frame": 1382, "end_frame": 1514, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully handed out flyers to multiple customers."}, {"start_frame": 1514, "end_frame": 1588, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has successfully clamped and handed out flyers to customers multiple times."}], "detailed_task_instruction": ["Clamp a flyer and hand it to the customer, then repeat this process for the remaining flyers, ensuring each one is clamped before being handed over to the customer."]}
{"task_id": "task_4053", "episode_index": 14, "video_path": "task_4053/videos/chunk-000/{video_key}/episode_000014.mp4", "tasks": ["Handing out flyers."], "length": 1695, "action_config": [{"start_frame": 0, "end_frame": 135, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 135, "end_frame": 194, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped the flyers."}, {"start_frame": 194, "end_frame": 346, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has clamped flyers and handed them to customers."}, {"start_frame": 346, "end_frame": 401, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them to customers."}, {"start_frame": 401, "end_frame": 549, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has clamped flyers and handed them over to customers."}, {"start_frame": 549, "end_frame": 598, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to customers multiple times."}, {"start_frame": 598, "end_frame": 751, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully handed out flyers to customers multiple times."}, {"start_frame": 751, "end_frame": 815, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to customers multiple times."}, {"start_frame": 815, "end_frame": 962, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully handed out flyers to multiple customers."}, {"start_frame": 962, "end_frame": 1028, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to customers multiple times."}, {"start_frame": 1028, "end_frame": 1182, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully handed out flyers to multiple customers."}, {"start_frame": 1182, "end_frame": 1241, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to customers multiple times."}, {"start_frame": 1241, "end_frame": 1383, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully handed out flyers to multiple customers."}, {"start_frame": 1383, "end_frame": 1441, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to multiple customers."}, {"start_frame": 1441, "end_frame": 1635, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully handed out flyers to multiple customers."}, {"start_frame": 1635, "end_frame": 1694, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to multiple customers."}], "detailed_task_instruction": ["Clamp a flyer and hand it to the customer, then repeat this sequence of clamping a flyer and handing it to the customer six more times to distribute a total of seven flyers."]}
{"task_id": "task_4053", "episode_index": 15, "video_path": "task_4053/videos/chunk-000/{video_key}/episode_000015.mp4", "tasks": ["Handing out flyers."], "length": 1766, "action_config": [{"start_frame": 0, "end_frame": 175, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 175, "end_frame": 233, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped the flyers."}, {"start_frame": 233, "end_frame": 389, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has clamped flyers and handed them to customers."}, {"start_frame": 389, "end_frame": 443, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them to customers."}, {"start_frame": 443, "end_frame": 561, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has clamped flyers and handed them over to customers."}, {"start_frame": 561, "end_frame": 623, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to customers multiple times."}, {"start_frame": 623, "end_frame": 772, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully handed out flyers to customers multiple times."}, {"start_frame": 772, "end_frame": 844, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to customers multiple times."}, {"start_frame": 844, "end_frame": 1041, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully handed out flyers to multiple customers."}, {"start_frame": 1041, "end_frame": 1099, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to customers multiple times."}, {"start_frame": 1099, "end_frame": 1256, "action_text": "clamp the flyer", "skill": "Clamp", "language_memory": "The robot has successfully handed out flyers to multiple customers."}, {"start_frame": 1256, "end_frame": 1319, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped and handed out flyers to multiple customers."}, {"start_frame": 1319, "end_frame": 1478, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully clamped and handed out flyers to multiple customers."}, {"start_frame": 1478, "end_frame": 1541, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has successfully clamped and handed out flyers to multiple customers."}, {"start_frame": 1541, "end_frame": 1710, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully handed out flyers to multiple customers."}, {"start_frame": 1710, "end_frame": 1765, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has successfully clamped and handed out flyers to multiple customers."}], "detailed_task_instruction": ["Clamp a flyer and hand it to the customer, then repeat this sequence of clamping flyers and handing them to the customer multiple times until all flyers have been distributed."]}
{"task_id": "task_4053", "episode_index": 16, "video_path": "task_4053/videos/chunk-000/{video_key}/episode_000016.mp4", "tasks": ["Handing out flyers."], "length": 1567, "action_config": [{"start_frame": 0, "end_frame": 176, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 176, "end_frame": 232, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped the flyers."}, {"start_frame": 232, "end_frame": 366, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has clamped flyers and handed them to customers."}, {"start_frame": 366, "end_frame": 427, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them to customers."}, {"start_frame": 427, "end_frame": 555, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has clamped flyers and handed them over to customers."}, {"start_frame": 555, "end_frame": 609, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to customers multiple times."}, {"start_frame": 609, "end_frame": 710, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully handed out flyers to customers multiple times."}, {"start_frame": 710, "end_frame": 765, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to customers multiple times."}, {"start_frame": 765, "end_frame": 969, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully handed out flyers to multiple customers."}, {"start_frame": 969, "end_frame": 1027, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to customers multiple times."}, {"start_frame": 1027, "end_frame": 1127, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully handed out flyers to multiple customers."}, {"start_frame": 1127, "end_frame": 1192, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to customers multiple times."}, {"start_frame": 1192, "end_frame": 1277, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully handed out flyers to multiple customers."}, {"start_frame": 1277, "end_frame": 1339, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to multiple customers."}, {"start_frame": 1339, "end_frame": 1505, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully handed out flyers to multiple customers."}, {"start_frame": 1505, "end_frame": 1566, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to multiple customers."}], "detailed_task_instruction": ["Clamp a flyer and hand it to the customer, then repeat this sequence of clamping a flyer and handing it to the customer six more times to distribute a total of seven flyers."]}
{"task_id": "task_4053", "episode_index": 17, "video_path": "task_4053/videos/chunk-000/{video_key}/episode_000017.mp4", "tasks": ["Handing out flyers."], "length": 1712, "action_config": [{"start_frame": 0, "end_frame": 307, "action_text": "clamp the flyer", "skill": "Clamp", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 307, "end_frame": 364, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The flyer has been clamped."}, {"start_frame": 364, "end_frame": 480, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has clamped a flyer and handed it to the customer."}, {"start_frame": 480, "end_frame": 536, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them to customers."}, {"start_frame": 536, "end_frame": 856, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has clamped flyers and handed them over to customers."}, {"start_frame": 856, "end_frame": 936, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to customers multiple times."}, {"start_frame": 936, "end_frame": 996, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully handed out multiple flyers to customers."}, {"start_frame": 996, "end_frame": 1052, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has successfully handed out multiple flyers to customers."}, {"start_frame": 1052, "end_frame": 1312, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully handed out multiple flyers to customers."}, {"start_frame": 1312, "end_frame": 1367, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has successfully handed out multiple flyers to customers."}, {"start_frame": 1367, "end_frame": 1648, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully handed out multiple flyers to customers."}, {"start_frame": 1648, "end_frame": 1711, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has successfully handed out multiple flyers to customers."}], "detailed_task_instruction": ["Clamp a flyer and hand it to the customer, then repeat this sequence of clamping flyers and handing them over to the customer six more times to distribute a total of seven flyers."]}
{"task_id": "task_4053", "episode_index": 18, "video_path": "task_4053/videos/chunk-000/{video_key}/episode_000018.mp4", "tasks": ["Handing out flyers."], "length": 1602, "action_config": [{"start_frame": 0, "end_frame": 176, "action_text": "clamp the flyer", "skill": "Clamp", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 176, "end_frame": 228, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The flyer has been clamped."}, {"start_frame": 228, "end_frame": 338, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has clamped a flyer and handed it to the customer."}, {"start_frame": 338, "end_frame": 391, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them to customers."}, {"start_frame": 391, "end_frame": 521, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has clamped flyers and handed them over to customers."}, {"start_frame": 521, "end_frame": 567, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to customers multiple times."}, {"start_frame": 567, "end_frame": 669, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully handed out multiple flyers to customers."}, {"start_frame": 669, "end_frame": 727, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has successfully handed out multiple flyers to customers."}, {"start_frame": 727, "end_frame": 843, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully handed out multiple flyers to customers."}, {"start_frame": 843, "end_frame": 901, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has successfully handed out multiple flyers to customers."}, {"start_frame": 901, "end_frame": 1044, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully handed out multiple flyers to customers."}, {"start_frame": 1044, "end_frame": 1103, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has successfully handed out multiple flyers to customers."}, {"start_frame": 1103, "end_frame": 1284, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully handed out multiple flyers to customers."}, {"start_frame": 1284, "end_frame": 1351, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has successfully handed out flyers to multiple customers."}, {"start_frame": 1351, "end_frame": 1503, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully handed out flyers to multiple customers."}, {"start_frame": 1503, "end_frame": 1573, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has successfully handed out flyers to multiple customers."}], "detailed_task_instruction": ["Clamp a flyer and hand it over to the customer, then repeat this sequence of clamping flyers and handing them to the customer multiple times until all flyers have been distributed."]}
{"task_id": "task_4053", "episode_index": 19, "video_path": "task_4053/videos/chunk-000/{video_key}/episode_000019.mp4", "tasks": ["Handing out flyers."], "length": 1628, "action_config": [{"start_frame": 0, "end_frame": 162, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 162, "end_frame": 213, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped the flyers."}, {"start_frame": 213, "end_frame": 375, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has clamped flyers and handed them to customers."}, {"start_frame": 375, "end_frame": 430, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them to customers."}, {"start_frame": 430, "end_frame": 571, "action_text": "clamp the flyer", "skill": "Clamp", "language_memory": "The robot has clamped flyers and handed them over to customers."}, {"start_frame": 571, "end_frame": 627, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to customers multiple times."}, {"start_frame": 627, "end_frame": 721, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has clamped flyers and handed them over to customers multiple times."}, {"start_frame": 721, "end_frame": 780, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to customers multiple times."}, {"start_frame": 780, "end_frame": 886, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully clamped flyers and handed them over to customers multiple times."}, {"start_frame": 886, "end_frame": 943, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has successfully clamped flyers and handed them over to customers multiple times."}, {"start_frame": 943, "end_frame": 1132, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully clamped flyers and handed them over to the customer multiple times."}, {"start_frame": 1132, "end_frame": 1189, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has successfully clamped and handed out flyers to multiple customers."}, {"start_frame": 1189, "end_frame": 1369, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully handed out flyers to multiple customers."}, {"start_frame": 1369, "end_frame": 1424, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has successfully clamped flyers and handed them over to multiple customers."}, {"start_frame": 1424, "end_frame": 1566, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully handed out flyers to multiple customers."}, {"start_frame": 1566, "end_frame": 1627, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has successfully clamped flyers and handed them over to multiple customers."}], "detailed_task_instruction": ["Clamp a flyer and hand it to the customer, then repeat this process for multiple flyers, clamping each one before handing it over to the customer in a continuous sequence until all flyers have been distributed."]}
{"task_id": "task_4053", "episode_index": 20, "video_path": "task_4053/videos/chunk-000/{video_key}/episode_000020.mp4", "tasks": ["Handing out flyers."], "length": 1704, "action_config": [{"start_frame": 0, "end_frame": 135, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 135, "end_frame": 194, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped the flyers."}, {"start_frame": 194, "end_frame": 391, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has clamped flyers and handed them to customers."}, {"start_frame": 391, "end_frame": 446, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them to customers."}, {"start_frame": 446, "end_frame": 652, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has clamped flyers and handed them over to customers."}, {"start_frame": 652, "end_frame": 712, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to customers multiple times."}, {"start_frame": 712, "end_frame": 971, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully handed out flyers to customers multiple times."}, {"start_frame": 971, "end_frame": 1032, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to customers multiple times."}, {"start_frame": 1032, "end_frame": 1178, "action_text": "clamp the flyer", "skill": "Clamp", "language_memory": "The robot has successfully handed out flyers to multiple customers."}, {"start_frame": 1178, "end_frame": 1238, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to customers multiple times."}, {"start_frame": 1238, "end_frame": 1377, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully handed out multiple flyers to customers."}, {"start_frame": 1377, "end_frame": 1429, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to customers multiple times."}, {"start_frame": 1429, "end_frame": 1628, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully handed out multiple flyers to customers."}, {"start_frame": 1628, "end_frame": 1689, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has successfully clamped and handed out flyers to multiple customers."}], "detailed_task_instruction": ["Clamp a flyer and hand it to the customer, then repeat this process for multiple flyers, ensuring each one is clamped before being handed over to the customer in a continuous sequence until all flyers have been distributed."]}
{"task_id": "task_4053", "episode_index": 21, "video_path": "task_4053/videos/chunk-000/{video_key}/episode_000021.mp4", "tasks": ["Handing out flyers."], "length": 1907, "action_config": [{"start_frame": 0, "end_frame": 102, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 102, "end_frame": 160, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped the flyers."}, {"start_frame": 160, "end_frame": 250, "action_text": "clamp the flyer", "skill": "Clamp", "language_memory": "The robot has clamped flyers and handed them to customers."}, {"start_frame": 250, "end_frame": 463, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them to customers."}, {"start_frame": 463, "end_frame": 581, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has clamped flyers and handed them over to customers."}, {"start_frame": 581, "end_frame": 636, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to the customer multiple times."}, {"start_frame": 636, "end_frame": 748, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully clamped flyers and handed them over to customers multiple times."}, {"start_frame": 748, "end_frame": 802, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has successfully clamped flyers and handed them over to customers multiple times."}, {"start_frame": 802, "end_frame": 921, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully clamped flyers and handed them over to customers multiple times."}, {"start_frame": 921, "end_frame": 977, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to customers multiple times."}, {"start_frame": 977, "end_frame": 1073, "action_text": "clamp the flyer", "skill": "Clamp", "language_memory": "The robot has successfully clamped and handed out flyers to customers multiple times."}, {"start_frame": 1073, "end_frame": 1136, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped and handed out flyers to customers multiple times."}, {"start_frame": 1136, "end_frame": 1348, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully handed out flyers to multiple customers."}, {"start_frame": 1348, "end_frame": 1404, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has successfully clamped flyers and handed them over to multiple customers."}, {"start_frame": 1404, "end_frame": 1618, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully handed out flyers to multiple customers."}, {"start_frame": 1618, "end_frame": 1686, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has successfully clamped and handed out flyers to multiple customers."}, {"start_frame": 1686, "end_frame": 1846, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully handed out flyers to multiple customers."}, {"start_frame": 1846, "end_frame": 1906, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has successfully clamped and handed out flyers to multiple customers."}], "detailed_task_instruction": ["Clamp a flyer and hand it over to the customer, then repeat this sequence of clamping flyers and handing them to the customer multiple times until all flyers have been distributed."]}
{"task_id": "task_4053", "episode_index": 22, "video_path": "task_4053/videos/chunk-000/{video_key}/episode_000022.mp4", "tasks": ["Handing out flyers."], "length": 1617, "action_config": [{"start_frame": 0, "end_frame": 188, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 188, "end_frame": 244, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped the flyers."}, {"start_frame": 244, "end_frame": 390, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has clamped flyers and handed them to customers."}, {"start_frame": 390, "end_frame": 452, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them to customers."}, {"start_frame": 452, "end_frame": 591, "action_text": "clamp the flyer", "skill": "Clamp", "language_memory": "The robot has clamped flyers and handed them over to customers."}, {"start_frame": 591, "end_frame": 645, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to customers multiple times."}, {"start_frame": 645, "end_frame": 797, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has clamped flyers and handed them over to customers multiple times."}, {"start_frame": 797, "end_frame": 858, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to customers multiple times."}, {"start_frame": 858, "end_frame": 964, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully clamped flyers and handed them over to customers multiple times."}, {"start_frame": 964, "end_frame": 1024, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has successfully clamped flyers and handed them over to customers multiple times."}, {"start_frame": 1024, "end_frame": 1212, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully clamped flyers and handed them over to the customer multiple times."}, {"start_frame": 1212, "end_frame": 1268, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has successfully clamped and handed out flyers to multiple customers."}, {"start_frame": 1268, "end_frame": 1570, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully handed out flyers to multiple customers."}, {"start_frame": 1570, "end_frame": 1616, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has successfully clamped flyers and handed them over to multiple customers."}], "detailed_task_instruction": ["Clamp a flyer and hand it to the customer, then repeat this process for multiple flyers, clamping each one before handing it over to the customer in a continuous sequence until all flyers have been distributed."]}
{"task_id": "task_4053", "episode_index": 23, "video_path": "task_4053/videos/chunk-000/{video_key}/episode_000023.mp4", "tasks": ["Handing out flyers."], "length": 1747, "action_config": [{"start_frame": 0, "end_frame": 186, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 186, "end_frame": 244, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped the flyers."}, {"start_frame": 244, "end_frame": 375, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has clamped flyers and handed them to customers."}, {"start_frame": 375, "end_frame": 438, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them to customers."}, {"start_frame": 438, "end_frame": 719, "action_text": "clamp the flyer", "skill": "Clamp", "language_memory": "The robot has clamped flyers and handed them over to customers."}, {"start_frame": 719, "end_frame": 779, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to customers multiple times."}, {"start_frame": 779, "end_frame": 894, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has clamped flyers and handed them over to customers multiple times."}, {"start_frame": 894, "end_frame": 961, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to customers multiple times."}, {"start_frame": 961, "end_frame": 1103, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully clamped flyers and handed them over to customers multiple times."}, {"start_frame": 1103, "end_frame": 1162, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has successfully clamped flyers and handed them over to customers multiple times."}, {"start_frame": 1162, "end_frame": 1277, "action_text": "clamp the flyer", "skill": "Clamp", "language_memory": "The robot has successfully clamped flyers and handed them over to the customer multiple times."}, {"start_frame": 1277, "end_frame": 1339, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to customers multiple times."}, {"start_frame": 1339, "end_frame": 1492, "action_text": "clamp the flyer", "skill": "Clamp", "language_memory": "The robot has successfully handed out flyers to multiple customers."}, {"start_frame": 1492, "end_frame": 1556, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has successfully handed out flyers to multiple customers."}, {"start_frame": 1556, "end_frame": 1693, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully handed out flyers to multiple customers."}, {"start_frame": 1693, "end_frame": 1746, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has successfully handed out flyers to multiple customers."}], "detailed_task_instruction": ["Clamp a flyer and hand it to the customer, then repeat this sequence of clamping flyers and handing them to the customer multiple times until all flyers have been distributed."]}
{"task_id": "task_4053", "episode_index": 24, "video_path": "task_4053/videos/chunk-000/{video_key}/episode_000024.mp4", "tasks": ["Handing out flyers."], "length": 1593, "action_config": [{"start_frame": 0, "end_frame": 178, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 178, "end_frame": 231, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped the flyers."}, {"start_frame": 231, "end_frame": 376, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has clamped flyers and handed them to customers."}, {"start_frame": 376, "end_frame": 432, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them to customers."}, {"start_frame": 432, "end_frame": 582, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has clamped flyers and handed them over to customers."}, {"start_frame": 582, "end_frame": 635, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to customers multiple times."}, {"start_frame": 635, "end_frame": 763, "action_text": "clamp the flyer", "skill": "Clamp", "language_memory": "The robot has successfully handed out flyers to customers multiple times."}, {"start_frame": 763, "end_frame": 826, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to customers multiple times."}, {"start_frame": 826, "end_frame": 960, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully handed out flyers to multiple customers."}, {"start_frame": 960, "end_frame": 1014, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has successfully handed out flyers to multiple customers."}, {"start_frame": 1014, "end_frame": 1148, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully clamped flyers and handed them over to multiple customers."}, {"start_frame": 1148, "end_frame": 1210, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has successfully clamped flyers and handed them over to multiple customers."}, {"start_frame": 1210, "end_frame": 1337, "action_text": "clamp the flyer", "skill": "Clamp", "language_memory": "The robot has successfully handed out flyers to multiple customers."}, {"start_frame": 1337, "end_frame": 1391, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has repeatedly clamped flyers and handed them to customers."}, {"start_frame": 1391, "end_frame": 1528, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully handed out flyers to multiple customers."}, {"start_frame": 1528, "end_frame": 1592, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has repeatedly clamped flyers and handed them over to customers."}], "detailed_task_instruction": ["Clamp a flyer and hand it to the customer, then repeat this process for multiple flyers, alternating between clamping and handing over each one to the customer until all flyers have been distributed."]}
{"task_id": "task_4053", "episode_index": 25, "video_path": "task_4053/videos/chunk-000/{video_key}/episode_000025.mp4", "tasks": ["Handing out flyers."], "length": 1799, "action_config": [{"start_frame": 0, "end_frame": 165, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 165, "end_frame": 217, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped the flyers."}, {"start_frame": 217, "end_frame": 409, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has clamped flyers and handed them to customers."}, {"start_frame": 409, "end_frame": 469, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them to customers."}, {"start_frame": 469, "end_frame": 574, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has clamped flyers and handed them over to customers."}, {"start_frame": 574, "end_frame": 636, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to customers multiple times."}, {"start_frame": 636, "end_frame": 791, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully handed out flyers to customers multiple times."}, {"start_frame": 791, "end_frame": 842, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to customers multiple times."}, {"start_frame": 842, "end_frame": 964, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully handed out flyers to multiple customers."}, {"start_frame": 964, "end_frame": 1016, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to customers multiple times."}, {"start_frame": 1016, "end_frame": 1175, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully handed out flyers to multiple customers."}, {"start_frame": 1175, "end_frame": 1229, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to customers multiple times."}, {"start_frame": 1229, "end_frame": 1383, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully handed out flyers to multiple customers."}, {"start_frame": 1383, "end_frame": 1441, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to multiple customers."}, {"start_frame": 1441, "end_frame": 1691, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully handed out flyers to multiple customers."}, {"start_frame": 1691, "end_frame": 1761, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to multiple customers."}], "detailed_task_instruction": ["Clamp a flyer and hand it to the customer, then repeat this sequence of clamping a flyer and handing it to the customer six more times to distribute a total of seven flyers."]}
{"task_id": "task_4053", "episode_index": 26, "video_path": "task_4053/videos/chunk-000/{video_key}/episode_000026.mp4", "tasks": ["Handing out flyers."], "length": 1660, "action_config": [{"start_frame": 0, "end_frame": 236, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 236, "end_frame": 297, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped the flyers."}, {"start_frame": 297, "end_frame": 418, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has clamped flyers and handed them to customers."}, {"start_frame": 418, "end_frame": 477, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them to customers."}, {"start_frame": 477, "end_frame": 630, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has clamped flyers and handed them over to customers."}, {"start_frame": 630, "end_frame": 683, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to customers multiple times."}, {"start_frame": 683, "end_frame": 816, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully handed out flyers to customers multiple times."}, {"start_frame": 816, "end_frame": 874, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to customers multiple times."}, {"start_frame": 874, "end_frame": 994, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully handed out flyers to multiple customers."}, {"start_frame": 994, "end_frame": 1055, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to customers multiple times."}, {"start_frame": 1055, "end_frame": 1196, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully handed out flyers to multiple customers."}, {"start_frame": 1196, "end_frame": 1254, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to customers multiple times."}, {"start_frame": 1254, "end_frame": 1393, "action_text": "clamp the flyer", "skill": "Clamp", "language_memory": "The robot has successfully handed out flyers to multiple customers."}, {"start_frame": 1393, "end_frame": 1453, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has handed out flyers to multiple customers."}, {"start_frame": 1453, "end_frame": 1590, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully handed out flyers to multiple customers."}, {"start_frame": 1590, "end_frame": 1659, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has successfully clamped flyers and handed them over to multiple customers."}], "detailed_task_instruction": ["Clamp a flyer and hand it to the customer, then repeat this sequence of clamping a flyer and handing it over to the customer six more times to distribute a total of seven flyers."]}
{"task_id": "task_4053", "episode_index": 27, "video_path": "task_4053/videos/chunk-000/{video_key}/episode_000027.mp4", "tasks": ["Handing out flyers."], "length": 1565, "action_config": [{"start_frame": 0, "end_frame": 162, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 162, "end_frame": 215, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped the flyers."}, {"start_frame": 215, "end_frame": 317, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has clamped flyers and handed them to customers."}, {"start_frame": 317, "end_frame": 375, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them to customers."}, {"start_frame": 375, "end_frame": 490, "action_text": "clamp the flyer", "skill": "Clamp", "language_memory": "The robot has clamped flyers and handed them over to customers."}, {"start_frame": 490, "end_frame": 546, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to customers multiple times."}, {"start_frame": 546, "end_frame": 690, "action_text": "clamp the flyer", "skill": "Clamp", "language_memory": "The robot has clamped flyers and handed them over to customers multiple times."}, {"start_frame": 690, "end_frame": 747, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to customers multiple times."}, {"start_frame": 747, "end_frame": 915, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully handed out flyers to multiple customers."}, {"start_frame": 915, "end_frame": 983, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to customers multiple times."}, {"start_frame": 983, "end_frame": 1090, "action_text": "clamp the flyer", "skill": "Clamp", "language_memory": "The robot has successfully clamped and handed out flyers to multiple customers."}, {"start_frame": 1090, "end_frame": 1153, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to customers multiple times."}, {"start_frame": 1153, "end_frame": 1278, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully handed out flyers to multiple customers."}, {"start_frame": 1278, "end_frame": 1334, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has successfully clamped and handed out flyers to multiple customers."}, {"start_frame": 1334, "end_frame": 1467, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully handed out flyers to multiple customers."}, {"start_frame": 1467, "end_frame": 1528, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has successfully handed out flyers to multiple customers."}], "detailed_task_instruction": ["Clamp a flyer and hand it to the customer, then repeat this sequence of clamping flyers and handing them to customers multiple times until all flyers have been distributed."]}
{"task_id": "task_4053", "episode_index": 28, "video_path": "task_4053/videos/chunk-000/{video_key}/episode_000028.mp4", "tasks": ["Handing out flyers."], "length": 1785, "action_config": [{"start_frame": 0, "end_frame": 176, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 176, "end_frame": 231, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped the flyers."}, {"start_frame": 231, "end_frame": 308, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has clamped flyers and handed them to customers."}, {"start_frame": 308, "end_frame": 356, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them to customers."}, {"start_frame": 356, "end_frame": 495, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has clamped flyers and handed them over to customers."}, {"start_frame": 495, "end_frame": 541, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to customers multiple times."}, {"start_frame": 541, "end_frame": 673, "action_text": "clamp the flyer", "skill": "Clamp", "language_memory": "The robot has successfully handed out flyers to customers multiple times."}, {"start_frame": 673, "end_frame": 724, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to customers multiple times."}, {"start_frame": 724, "end_frame": 886, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully handed out flyers to multiple customers."}, {"start_frame": 886, "end_frame": 944, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has successfully handed out flyers to multiple customers."}, {"start_frame": 944, "end_frame": 1085, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully clamped flyers and handed them over to multiple customers."}, {"start_frame": 1085, "end_frame": 1142, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has successfully clamped flyers and handed them over to multiple customers."}, {"start_frame": 1142, "end_frame": 1287, "action_text": "clamp the flyer", "skill": "Clamp", "language_memory": "The robot has successfully handed out flyers to multiple customers."}, {"start_frame": 1287, "end_frame": 1345, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has repeatedly clamped flyers and handed them to customers."}, {"start_frame": 1345, "end_frame": 1485, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully handed out flyers to multiple customers."}, {"start_frame": 1485, "end_frame": 1548, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has repeatedly clamped flyers and handed them over to customers."}, {"start_frame": 1548, "end_frame": 1711, "action_text": "clamp the flyer", "skill": "Clamp", "language_memory": "The robot has successfully clamped and handed out flyers to multiple customers."}, {"start_frame": 1711, "end_frame": 1784, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has repeatedly clamped flyers and handed them over to customers."}], "detailed_task_instruction": ["Clamp a flyer and hand it to a customer, then repeat this process for multiple flyers, alternating between clamping individual flyers or stacks of flyers and handing them over to customers until all flyers have been distributed."]}
{"task_id": "task_4053", "episode_index": 29, "video_path": "task_4053/videos/chunk-000/{video_key}/episode_000029.mp4", "tasks": ["Handing out flyers."], "length": 1676, "action_config": [{"start_frame": 0, "end_frame": 133, "action_text": "clamp the flyer", "skill": "Clamp", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 133, "end_frame": 185, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The flyer has been clamped."}, {"start_frame": 185, "end_frame": 334, "action_text": "clamp the flyer", "skill": "Clamp", "language_memory": "The robot has clamped a flyer and handed it to the customer."}, {"start_frame": 334, "end_frame": 387, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot clamped flyers and handed them to customers."}, {"start_frame": 387, "end_frame": 535, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully handed out flyers to customers."}, {"start_frame": 535, "end_frame": 591, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to customers multiple times."}, {"start_frame": 591, "end_frame": 707, "action_text": "clamp the flyer", "skill": "Clamp", "language_memory": "The robot has clamped flyers and handed them over to customers multiple times."}, {"start_frame": 707, "end_frame": 771, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped and handed out flyers to customers multiple times."}, {"start_frame": 771, "end_frame": 889, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot successfully handed out flyers to customers multiple times."}, {"start_frame": 889, "end_frame": 951, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has successfully clamped and handed out flyers to customers multiple times."}, {"start_frame": 951, "end_frame": 1210, "action_text": "clamp the flyer", "skill": "Clamp", "language_memory": "The robot successfully clamped and handed out flyers to customers multiple times."}, {"start_frame": 1210, "end_frame": 1277, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped and handed out flyers to customers multiple times."}, {"start_frame": 1277, "end_frame": 1408, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully clamped and handed out flyers to multiple customers."}, {"start_frame": 1408, "end_frame": 1464, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has successfully clamped and handed out flyers to customers multiple times."}, {"start_frame": 1464, "end_frame": 1615, "action_text": "clamp the flyer", "skill": "Clamp", "language_memory": "The robot has successfully clamped and handed out flyers to multiple customers."}, {"start_frame": 1615, "end_frame": 1675, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has repeatedly clamped flyers and handed them over to customers."}], "detailed_task_instruction": ["Clamp a flyer and hand it to the customer, then repeat this sequence with additional flyers, alternating between clamping single flyers and multiple flyers as needed, until all flyers have been clamped and successfully handed over to the customer."]}
{"task_id": "task_4053", "episode_index": 30, "video_path": "task_4053/videos/chunk-000/{video_key}/episode_000030.mp4", "tasks": ["Handing out flyers."], "length": 1642, "action_config": [{"start_frame": 0, "end_frame": 108, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 108, "end_frame": 168, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped the flyers."}, {"start_frame": 168, "end_frame": 335, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has clamped flyers and handed them to customers."}, {"start_frame": 335, "end_frame": 387, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them to customers."}, {"start_frame": 387, "end_frame": 516, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has clamped flyers and handed them over to customers."}, {"start_frame": 516, "end_frame": 566, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to customers multiple times."}, {"start_frame": 566, "end_frame": 822, "action_text": "clamp the flyer", "skill": "Clamp", "language_memory": "The robot has successfully handed out flyers to customers multiple times."}, {"start_frame": 822, "end_frame": 874, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to customers multiple times."}, {"start_frame": 874, "end_frame": 1002, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully handed out flyers to multiple customers."}, {"start_frame": 1002, "end_frame": 1065, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has successfully handed out flyers to multiple customers."}, {"start_frame": 1065, "end_frame": 1221, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully clamped flyers and handed them over to multiple customers."}, {"start_frame": 1221, "end_frame": 1278, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has successfully clamped flyers and handed them over to multiple customers."}, {"start_frame": 1278, "end_frame": 1389, "action_text": "clamp the flyer", "skill": "Clamp", "language_memory": "The robot has successfully handed out flyers to multiple customers."}, {"start_frame": 1389, "end_frame": 1452, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has repeatedly clamped flyers and handed them to customers."}, {"start_frame": 1452, "end_frame": 1568, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully handed out flyers to multiple customers."}, {"start_frame": 1568, "end_frame": 1635, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has repeatedly clamped flyers and handed them over to customers."}], "detailed_task_instruction": ["Clamp a flyer and hand it to the customer, then repeat this process for multiple flyers, alternating between clamping and handing over each one to the customer until all flyers have been distributed."]}
{"task_id": "task_4053", "episode_index": 31, "video_path": "task_4053/videos/chunk-000/{video_key}/episode_000031.mp4", "tasks": ["Handing out flyers."], "length": 1488, "action_config": [{"start_frame": 0, "end_frame": 183, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 183, "end_frame": 233, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped the flyers."}, {"start_frame": 233, "end_frame": 396, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has clamped flyers and handed them to customers."}, {"start_frame": 396, "end_frame": 456, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them to customers."}, {"start_frame": 456, "end_frame": 597, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has clamped flyers and handed them over to customers."}, {"start_frame": 597, "end_frame": 648, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to customers multiple times."}, {"start_frame": 648, "end_frame": 805, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully handed out flyers to customers multiple times."}, {"start_frame": 805, "end_frame": 859, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to customers multiple times."}, {"start_frame": 859, "end_frame": 1015, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully handed out flyers to multiple customers."}, {"start_frame": 1015, "end_frame": 1067, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to customers multiple times."}, {"start_frame": 1067, "end_frame": 1224, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully handed out flyers to multiple customers."}, {"start_frame": 1224, "end_frame": 1282, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to customers multiple times."}, {"start_frame": 1282, "end_frame": 1421, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully handed out flyers to multiple customers."}, {"start_frame": 1421, "end_frame": 1487, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to multiple customers."}], "detailed_task_instruction": ["Clamp a flyer and hand it over to the customer, then repeat this sequence of clamping a flyer and handing it to the customer six more times to distribute a total of seven flyers."]}
{"task_id": "task_4053", "episode_index": 32, "video_path": "task_4053/videos/chunk-000/{video_key}/episode_000032.mp4", "tasks": ["Handing out flyers."], "length": 1544, "action_config": [{"start_frame": 0, "end_frame": 150, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 150, "end_frame": 198, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped the flyers."}, {"start_frame": 198, "end_frame": 341, "action_text": "clamp the flyer", "skill": "Clamp", "language_memory": "The robot has clamped flyers and handed them to customers."}, {"start_frame": 341, "end_frame": 391, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them to customers."}, {"start_frame": 391, "end_frame": 540, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has clamped flyers and handed them over to customers."}, {"start_frame": 540, "end_frame": 597, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to the customer multiple times."}, {"start_frame": 597, "end_frame": 725, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully clamped flyers and handed them over to customers multiple times."}, {"start_frame": 725, "end_frame": 800, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has successfully clamped flyers and handed them over to customers multiple times."}, {"start_frame": 800, "end_frame": 915, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully clamped flyers and handed them over to customers multiple times."}, {"start_frame": 915, "end_frame": 972, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to customers multiple times."}, {"start_frame": 972, "end_frame": 1116, "action_text": "clamp the flyer", "skill": "Clamp", "language_memory": "The robot has successfully clamped and handed out flyers to customers multiple times."}, {"start_frame": 1116, "end_frame": 1172, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped and handed out flyers to customers multiple times."}, {"start_frame": 1172, "end_frame": 1303, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully handed out flyers to multiple customers."}, {"start_frame": 1303, "end_frame": 1361, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has successfully clamped flyers and handed them over to multiple customers."}, {"start_frame": 1361, "end_frame": 1482, "action_text": "clamp the flyer", "skill": "Clamp", "language_memory": "The robot has successfully handed out flyers to multiple customers."}, {"start_frame": 1482, "end_frame": 1543, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has successfully handed out flyers to multiple customers."}], "detailed_task_instruction": ["Clamp a flyer and hand it to the customer, then repeat this sequence of clamping flyers and handing them to the customer multiple times until all flyers have been distributed."]}
{"task_id": "task_4053", "episode_index": 33, "video_path": "task_4053/videos/chunk-000/{video_key}/episode_000033.mp4", "tasks": ["Handing out flyers."], "length": 1779, "action_config": [{"start_frame": 0, "end_frame": 168, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 168, "end_frame": 226, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped the flyers."}, {"start_frame": 226, "end_frame": 377, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has clamped flyers and handed them to customers."}, {"start_frame": 377, "end_frame": 447, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them to customers."}, {"start_frame": 447, "end_frame": 557, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has clamped flyers and handed them over to customers."}, {"start_frame": 557, "end_frame": 606, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to customers multiple times."}, {"start_frame": 606, "end_frame": 739, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully handed out flyers to customers multiple times."}, {"start_frame": 739, "end_frame": 794, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to customers multiple times."}, {"start_frame": 794, "end_frame": 1136, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully handed out flyers to multiple customers."}, {"start_frame": 1136, "end_frame": 1187, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to customers multiple times."}, {"start_frame": 1187, "end_frame": 1343, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully handed out flyers to multiple customers."}, {"start_frame": 1343, "end_frame": 1400, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to customers multiple times."}, {"start_frame": 1400, "end_frame": 1556, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully handed out flyers to multiple customers."}, {"start_frame": 1556, "end_frame": 1607, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to multiple customers."}, {"start_frame": 1607, "end_frame": 1710, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully handed out flyers to multiple customers."}, {"start_frame": 1710, "end_frame": 1771, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to multiple customers."}], "detailed_task_instruction": ["Clamp a flyer and hand it to the customer, then repeat this sequence of clamping a flyer and handing it to the customer six more times to distribute a total of seven flyers."]}
{"task_id": "task_4053", "episode_index": 34, "video_path": "task_4053/videos/chunk-000/{video_key}/episode_000034.mp4", "tasks": ["Handing out flyers."], "length": 1714, "action_config": [{"start_frame": 0, "end_frame": 165, "action_text": "clamp the flyer", "skill": "Clamp", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 165, "end_frame": 218, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The flyer has been clamped."}, {"start_frame": 218, "end_frame": 320, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has clamped a flyer and handed it to the customer."}, {"start_frame": 320, "end_frame": 369, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them to customers."}, {"start_frame": 369, "end_frame": 491, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has clamped flyers and handed them over to customers."}, {"start_frame": 491, "end_frame": 541, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to customers multiple times."}, {"start_frame": 541, "end_frame": 635, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully handed out multiple flyers to customers."}, {"start_frame": 635, "end_frame": 690, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has successfully handed out multiple flyers to customers."}, {"start_frame": 690, "end_frame": 805, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully handed out multiple flyers to customers."}, {"start_frame": 805, "end_frame": 856, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has successfully handed out multiple flyers to customers."}, {"start_frame": 856, "end_frame": 1017, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully handed out multiple flyers to customers."}, {"start_frame": 1017, "end_frame": 1071, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has successfully handed out multiple flyers to customers."}, {"start_frame": 1071, "end_frame": 1287, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully handed out multiple flyers to customers."}, {"start_frame": 1287, "end_frame": 1345, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has successfully handed out flyers to multiple customers."}, {"start_frame": 1345, "end_frame": 1493, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully handed out flyers to multiple customers."}, {"start_frame": 1493, "end_frame": 1560, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has successfully handed out flyers to multiple customers."}, {"start_frame": 1560, "end_frame": 1673, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully handed out flyers to multiple customers."}, {"start_frame": 1673, "end_frame": 1713, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has repeatedly clamped flyers and handed them to customers."}], "detailed_task_instruction": ["Clamp a flyer and hand it over to the customer, then repeat this sequence of clamping flyers and handing them to customers multiple times until all flyers have been distributed."]}
{"task_id": "task_4053", "episode_index": 35, "video_path": "task_4053/videos/chunk-000/{video_key}/episode_000035.mp4", "tasks": ["Handing out flyers."], "length": 1739, "action_config": [{"start_frame": 0, "end_frame": 183, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 183, "end_frame": 260, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped the flyers."}, {"start_frame": 260, "end_frame": 392, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has clamped flyers and handed them to customers."}, {"start_frame": 392, "end_frame": 461, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them to customers."}, {"start_frame": 461, "end_frame": 575, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has clamped flyers and handed them over to customers."}, {"start_frame": 575, "end_frame": 629, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to customers multiple times."}, {"start_frame": 629, "end_frame": 760, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully handed out flyers to customers multiple times."}, {"start_frame": 760, "end_frame": 812, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to customers multiple times."}, {"start_frame": 812, "end_frame": 942, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully handed out flyers to multiple customers."}, {"start_frame": 942, "end_frame": 994, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to customers multiple times."}, {"start_frame": 994, "end_frame": 1121, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully handed out flyers to multiple customers."}, {"start_frame": 1121, "end_frame": 1169, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to customers multiple times."}, {"start_frame": 1169, "end_frame": 1269, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully handed out flyers to multiple customers."}, {"start_frame": 1269, "end_frame": 1322, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to multiple customers."}, {"start_frame": 1322, "end_frame": 1478, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully handed out flyers to multiple customers."}, {"start_frame": 1478, "end_frame": 1543, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to multiple customers."}, {"start_frame": 1543, "end_frame": 1685, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully handed out flyers to multiple customers."}, {"start_frame": 1685, "end_frame": 1738, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has repeatedly clamped flyers and handed them to customers."}], "detailed_task_instruction": ["Clamp a flyer and hand it over to the customer, then repeat this sequence of clamping a flyer and handing it to the customer eight more times to distribute a total of nine flyers."]}
{"task_id": "task_4053", "episode_index": 36, "video_path": "task_4053/videos/chunk-000/{video_key}/episode_000036.mp4", "tasks": ["Handing out flyers."], "length": 1615, "action_config": [{"start_frame": 0, "end_frame": 157, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 157, "end_frame": 218, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped the flyers."}, {"start_frame": 218, "end_frame": 358, "action_text": "clamp the flyer", "skill": "Clamp", "language_memory": "The robot has clamped flyers and handed them to customers."}, {"start_frame": 358, "end_frame": 425, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them to customers."}, {"start_frame": 425, "end_frame": 577, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has clamped flyers and handed them over to customers."}, {"start_frame": 577, "end_frame": 633, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to the customer multiple times."}, {"start_frame": 633, "end_frame": 759, "action_text": "clamp the flyer", "skill": "Clamp", "language_memory": "The robot has successfully clamped flyers and handed them over to customers multiple times."}, {"start_frame": 759, "end_frame": 814, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has successfully handed out flyers to customers multiple times."}, {"start_frame": 814, "end_frame": 976, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully handed out flyers to multiple customers."}, {"start_frame": 976, "end_frame": 1030, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has successfully clamped and handed out flyers to multiple customers."}, {"start_frame": 1030, "end_frame": 1144, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully handed out flyers to multiple customers."}, {"start_frame": 1144, "end_frame": 1202, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to customers multiple times."}, {"start_frame": 1202, "end_frame": 1331, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully handed out flyers to multiple customers."}, {"start_frame": 1331, "end_frame": 1389, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has successfully clamped and handed out flyers to multiple customers."}, {"start_frame": 1389, "end_frame": 1539, "action_text": "clamp the flyer", "skill": "Clamp", "language_memory": "The robot has successfully handed out flyers to multiple customers."}, {"start_frame": 1539, "end_frame": 1614, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has successfully handed out flyers to multiple customers."}], "detailed_task_instruction": ["Clamp a flyer and hand it to the customer, then repeat this sequence of clamping a flyer and handing it over to the customer multiple times until all flyers have been distributed."]}
{"task_id": "task_4053", "episode_index": 37, "video_path": "task_4053/videos/chunk-000/{video_key}/episode_000037.mp4", "tasks": ["Handing out flyers."], "length": 1655, "action_config": [{"start_frame": 0, "end_frame": 166, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 166, "end_frame": 238, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped the flyers."}, {"start_frame": 238, "end_frame": 358, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has clamped flyers and handed them to customers."}, {"start_frame": 358, "end_frame": 423, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them to customers."}, {"start_frame": 423, "end_frame": 560, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has clamped flyers and handed them over to customers."}, {"start_frame": 560, "end_frame": 621, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to customers multiple times."}, {"start_frame": 621, "end_frame": 771, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully handed out flyers to customers multiple times."}, {"start_frame": 771, "end_frame": 834, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to customers multiple times."}, {"start_frame": 834, "end_frame": 933, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully handed out flyers to multiple customers."}, {"start_frame": 933, "end_frame": 995, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to customers multiple times."}, {"start_frame": 995, "end_frame": 1110, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully handed out flyers to multiple customers."}, {"start_frame": 1110, "end_frame": 1166, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to customers multiple times."}, {"start_frame": 1166, "end_frame": 1359, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully handed out flyers to multiple customers."}, {"start_frame": 1359, "end_frame": 1434, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to multiple customers."}, {"start_frame": 1434, "end_frame": 1579, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully handed out flyers to multiple customers."}, {"start_frame": 1579, "end_frame": 1654, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to multiple customers."}], "detailed_task_instruction": ["Clamp a flyer and hand it to the customer, then repeat this sequence of clamping a flyer and handing it to the customer six more times to distribute a total of seven flyers."]}
{"task_id": "task_4053", "episode_index": 38, "video_path": "task_4053/videos/chunk-000/{video_key}/episode_000038.mp4", "tasks": ["Handing out flyers."], "length": 1870, "action_config": [{"start_frame": 0, "end_frame": 369, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 369, "end_frame": 425, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped the flyers."}, {"start_frame": 425, "end_frame": 680, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has clamped flyers and handed them to customers."}, {"start_frame": 680, "end_frame": 743, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them to customers."}, {"start_frame": 743, "end_frame": 885, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has clamped flyers and handed them over to customers."}, {"start_frame": 885, "end_frame": 950, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to customers multiple times."}, {"start_frame": 950, "end_frame": 1157, "action_text": "clamp the flyer", "skill": "Clamp", "language_memory": "The robot has successfully handed out flyers to customers multiple times."}, {"start_frame": 1157, "end_frame": 1218, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to customers multiple times."}, {"start_frame": 1218, "end_frame": 1341, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully handed out flyers to multiple customers."}, {"start_frame": 1341, "end_frame": 1401, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has successfully handed out flyers to multiple customers."}, {"start_frame": 1401, "end_frame": 1570, "action_text": "clamp the flyer", "skill": "Clamp", "language_memory": "The robot has successfully clamped flyers and handed them over to multiple customers."}, {"start_frame": 1570, "end_frame": 1629, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to customers multiple times."}, {"start_frame": 1629, "end_frame": 1803, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully handed out flyers to multiple customers."}, {"start_frame": 1803, "end_frame": 1869, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has repeatedly clamped flyers and handed them over to customers."}], "detailed_task_instruction": ["Clamp a flyer and hand it to the customer, then repeat this sequence of clamping flyers and handing them to customers multiple times to distribute the entire batch."]}
{"task_id": "task_4053", "episode_index": 39, "video_path": "task_4053/videos/chunk-000/{video_key}/episode_000039.mp4", "tasks": ["Handing out flyers."], "length": 2045, "action_config": [{"start_frame": 0, "end_frame": 172, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 172, "end_frame": 236, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped the flyers."}, {"start_frame": 236, "end_frame": 512, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has clamped flyers and handed them to customers."}, {"start_frame": 512, "end_frame": 566, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them to customers."}, {"start_frame": 566, "end_frame": 762, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has clamped flyers and handed them over to customers."}, {"start_frame": 762, "end_frame": 829, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to customers multiple times."}, {"start_frame": 829, "end_frame": 963, "action_text": "clamp the flyer", "skill": "Clamp", "language_memory": "The robot has successfully handed out flyers to customers multiple times."}, {"start_frame": 963, "end_frame": 1038, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to customers multiple times."}, {"start_frame": 1038, "end_frame": 1221, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully handed out flyers to multiple customers."}, {"start_frame": 1221, "end_frame": 1279, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has successfully handed out flyers to multiple customers."}, {"start_frame": 1279, "end_frame": 1458, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully clamped flyers and handed them over to multiple customers."}, {"start_frame": 1458, "end_frame": 1529, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has successfully clamped flyers and handed them over to multiple customers."}, {"start_frame": 1529, "end_frame": 1707, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully handed out flyers to multiple customers."}, {"start_frame": 1707, "end_frame": 1771, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has successfully clamped flyers and handed them over to multiple customers."}, {"start_frame": 1771, "end_frame": 1993, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully handed out flyers to multiple customers."}, {"start_frame": 1993, "end_frame": 2044, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has successfully handed out flyers to multiple customers."}], "detailed_task_instruction": ["Clamp a flyer and hand it to the customer, then repeat this process for multiple flyers, ensuring each flyer is clamped before being handed over to the customer in a continuous sequence."]}
{"task_id": "task_4053", "episode_index": 40, "video_path": "task_4053/videos/chunk-000/{video_key}/episode_000040.mp4", "tasks": ["Handing out flyers."], "length": 1650, "action_config": [{"start_frame": 0, "end_frame": 491, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 491, "end_frame": 550, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped the flyers."}, {"start_frame": 550, "end_frame": 758, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has clamped flyers and handed them to customers."}, {"start_frame": 758, "end_frame": 819, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them to customers."}, {"start_frame": 819, "end_frame": 952, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has clamped flyers and handed them over to customers."}, {"start_frame": 952, "end_frame": 1010, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to customers multiple times."}, {"start_frame": 1010, "end_frame": 1349, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully handed out flyers to customers multiple times."}, {"start_frame": 1349, "end_frame": 1429, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to customers multiple times."}, {"start_frame": 1429, "end_frame": 1594, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully handed out flyers to multiple customers."}, {"start_frame": 1594, "end_frame": 1649, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to customers multiple times."}], "detailed_task_instruction": ["Clamp a flyer and hand it to the customer, then repeat this process of clamping a flyer and handing it over to the customer four more times to distribute a total of five flyers."]}
{"task_id": "task_4053", "episode_index": 41, "video_path": "task_4053/videos/chunk-000/{video_key}/episode_000041.mp4", "tasks": ["Handing out flyers."], "length": 1646, "action_config": [{"start_frame": 0, "end_frame": 147, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 147, "end_frame": 207, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped the flyers."}, {"start_frame": 207, "end_frame": 338, "action_text": "clamp the flyer", "skill": "Clamp", "language_memory": "The robot has clamped flyers and handed them to customers."}, {"start_frame": 338, "end_frame": 395, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them to customers."}, {"start_frame": 395, "end_frame": 675, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has clamped flyers and handed them over to customers."}, {"start_frame": 675, "end_frame": 737, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to the customer multiple times."}, {"start_frame": 737, "end_frame": 1103, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully clamped flyers and handed them over to customers multiple times."}, {"start_frame": 1103, "end_frame": 1185, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has successfully clamped flyers and handed them over to customers multiple times."}, {"start_frame": 1185, "end_frame": 1304, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully clamped flyers and handed them over to customers multiple times."}, {"start_frame": 1304, "end_frame": 1365, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to customers multiple times."}, {"start_frame": 1365, "end_frame": 1589, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully clamped and handed out flyers to customers multiple times."}, {"start_frame": 1589, "end_frame": 1645, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to the customer multiple times."}], "detailed_task_instruction": ["Clamp a flyer and hand it over to the customer, then repeat this sequence of clamping a flyer and handing it to the customer five more times to distribute a total of six flyers."]}
{"task_id": "task_4053", "episode_index": 42, "video_path": "task_4053/videos/chunk-000/{video_key}/episode_000042.mp4", "tasks": ["Handing out flyers."], "length": 1686, "action_config": [{"start_frame": 0, "end_frame": 201, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 201, "end_frame": 259, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped the flyers."}, {"start_frame": 259, "end_frame": 373, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has clamped flyers and handed them to customers."}, {"start_frame": 373, "end_frame": 427, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them to customers."}, {"start_frame": 427, "end_frame": 591, "action_text": "clamp the flyer", "skill": "Clamp", "language_memory": "The robot has clamped flyers and handed them over to customers."}, {"start_frame": 591, "end_frame": 649, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to customers multiple times."}, {"start_frame": 649, "end_frame": 834, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has clamped flyers and handed them over to customers multiple times."}, {"start_frame": 834, "end_frame": 893, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to customers multiple times."}, {"start_frame": 893, "end_frame": 1091, "action_text": "clamp the flyer", "skill": "Clamp", "language_memory": "The robot has successfully clamped flyers and handed them over to customers multiple times."}, {"start_frame": 1091, "end_frame": 1154, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has successfully clamped and handed out flyers to multiple customers."}, {"start_frame": 1154, "end_frame": 1288, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully handed out flyers to multiple customers."}, {"start_frame": 1288, "end_frame": 1348, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has successfully clamped and handed out flyers to customers multiple times."}, {"start_frame": 1348, "end_frame": 1474, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully handed out flyers to multiple customers."}, {"start_frame": 1474, "end_frame": 1537, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has successfully clamped and handed out flyers to multiple customers."}, {"start_frame": 1537, "end_frame": 1630, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully handed out flyers to multiple customers."}, {"start_frame": 1630, "end_frame": 1685, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has successfully clamped and handed out flyers to multiple customers."}], "detailed_task_instruction": ["Clamp a flyer and hand it to the customer, then repeat this sequence of clamping flyers and handing them to the customer multiple times until all flyers have been distributed."]}
{"task_id": "task_4053", "episode_index": 43, "video_path": "task_4053/videos/chunk-000/{video_key}/episode_000043.mp4", "tasks": ["Handing out flyers."], "length": 1607, "action_config": [{"start_frame": 0, "end_frame": 220, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 220, "end_frame": 277, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped the flyers."}, {"start_frame": 277, "end_frame": 521, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has clamped flyers and handed them to customers."}, {"start_frame": 521, "end_frame": 578, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them to customers."}, {"start_frame": 578, "end_frame": 740, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has clamped flyers and handed them over to customers."}, {"start_frame": 740, "end_frame": 802, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to customers multiple times."}, {"start_frame": 802, "end_frame": 1238, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully handed out flyers to customers multiple times."}, {"start_frame": 1238, "end_frame": 1310, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to customers multiple times."}, {"start_frame": 1310, "end_frame": 1513, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully handed out flyers to multiple customers."}, {"start_frame": 1513, "end_frame": 1586, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to customers multiple times."}], "detailed_task_instruction": ["Clamp a flyer and hand it to the customer, then repeat this process of clamping a flyer and handing it over to the customer four more times to distribute a total of five flyers."]}
{"task_id": "task_4053", "episode_index": 44, "video_path": "task_4053/videos/chunk-000/{video_key}/episode_000044.mp4", "tasks": ["Handing out flyers."], "length": 1722, "action_config": [{"start_frame": 0, "end_frame": 163, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 163, "end_frame": 225, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped the flyers."}, {"start_frame": 225, "end_frame": 392, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has clamped flyers and handed them to customers."}, {"start_frame": 392, "end_frame": 460, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them to customers."}, {"start_frame": 460, "end_frame": 607, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has clamped flyers and handed them over to customers."}, {"start_frame": 607, "end_frame": 677, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to customers multiple times."}, {"start_frame": 677, "end_frame": 971, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully handed out flyers to customers multiple times."}, {"start_frame": 971, "end_frame": 1026, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to customers multiple times."}, {"start_frame": 1026, "end_frame": 1186, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully handed out flyers to multiple customers."}, {"start_frame": 1186, "end_frame": 1265, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to customers multiple times."}, {"start_frame": 1265, "end_frame": 1418, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully handed out flyers to multiple customers."}, {"start_frame": 1418, "end_frame": 1484, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to customers multiple times."}, {"start_frame": 1484, "end_frame": 1655, "action_text": "clamp the flyer", "skill": "Clamp", "language_memory": "The robot has successfully handed out flyers to multiple customers."}, {"start_frame": 1655, "end_frame": 1721, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has handed out flyers to multiple customers."}], "detailed_task_instruction": ["Clamp a flyer and hand it to the customer, then repeat this sequence of clamping a flyer and handing it to the customer five more times for a total of six flyers, and finally clamp the last flyer and hand it to the customer."]}
{"task_id": "task_4053", "episode_index": 45, "video_path": "task_4053/videos/chunk-000/{video_key}/episode_000045.mp4", "tasks": ["Handing out flyers."], "length": 1718, "action_config": [{"start_frame": 0, "end_frame": 208, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 208, "end_frame": 273, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped the flyers."}, {"start_frame": 273, "end_frame": 410, "action_text": "clamp the flyer", "skill": "Clamp", "language_memory": "The robot has clamped flyers and handed them to customers."}, {"start_frame": 410, "end_frame": 473, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them to customers."}, {"start_frame": 473, "end_frame": 710, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has clamped flyers and handed them over to customers."}, {"start_frame": 710, "end_frame": 771, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to the customer multiple times."}, {"start_frame": 771, "end_frame": 964, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully clamped flyers and handed them over to customers multiple times."}, {"start_frame": 964, "end_frame": 1028, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has successfully clamped flyers and handed them over to customers multiple times."}, {"start_frame": 1028, "end_frame": 1276, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully clamped flyers and handed them over to customers multiple times."}, {"start_frame": 1276, "end_frame": 1341, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to customers multiple times."}, {"start_frame": 1341, "end_frame": 1486, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully clamped and handed out flyers to customers multiple times."}, {"start_frame": 1486, "end_frame": 1546, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to the customer multiple times."}, {"start_frame": 1546, "end_frame": 1660, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully clamped and handed out flyers to multiple customers."}, {"start_frame": 1660, "end_frame": 1717, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to customers multiple times."}], "detailed_task_instruction": ["Clamp a flyer and hand it over to the customer, then repeat this sequence of clamping a flyer and handing it to the customer multiple times to distribute the flyers."]}
{"task_id": "task_4053", "episode_index": 46, "video_path": "task_4053/videos/chunk-000/{video_key}/episode_000046.mp4", "tasks": ["Handing out flyers."], "length": 1910, "action_config": [{"start_frame": 0, "end_frame": 162, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 162, "end_frame": 223, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped the flyers."}, {"start_frame": 223, "end_frame": 410, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has clamped flyers and handed them to customers."}, {"start_frame": 410, "end_frame": 466, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them to customers."}, {"start_frame": 466, "end_frame": 673, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has clamped flyers and handed them over to customers."}, {"start_frame": 673, "end_frame": 730, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to customers multiple times."}, {"start_frame": 730, "end_frame": 959, "action_text": "clamp the flyer", "skill": "Clamp", "language_memory": "The robot has successfully handed out flyers to customers multiple times."}, {"start_frame": 959, "end_frame": 1015, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to customers multiple times."}, {"start_frame": 1015, "end_frame": 1214, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully handed out flyers to multiple customers."}, {"start_frame": 1214, "end_frame": 1268, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has successfully handed out flyers to multiple customers."}, {"start_frame": 1268, "end_frame": 1404, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully clamped flyers and handed them over to multiple customers."}, {"start_frame": 1404, "end_frame": 1464, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has successfully clamped flyers and handed them over to multiple customers."}, {"start_frame": 1464, "end_frame": 1598, "action_text": "clamp the flyer", "skill": "Clamp", "language_memory": "The robot has successfully handed out flyers to multiple customers."}, {"start_frame": 1598, "end_frame": 1661, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has repeatedly clamped flyers and handed them to customers."}, {"start_frame": 1661, "end_frame": 1844, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully handed out flyers to multiple customers."}, {"start_frame": 1844, "end_frame": 1909, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has repeatedly clamped flyers and handed them over to customers."}], "detailed_task_instruction": ["Clamp a flyer and hand it to the customer, then repeat this process for multiple flyers, alternating between clamping and handing over each one to the customer until all flyers have been distributed."]}
{"task_id": "task_4053", "episode_index": 47, "video_path": "task_4053/videos/chunk-000/{video_key}/episode_000047.mp4", "tasks": ["Handing out flyers."], "length": 1815, "action_config": [{"start_frame": 0, "end_frame": 172, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 172, "end_frame": 222, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped the flyers."}, {"start_frame": 222, "end_frame": 382, "action_text": "clamp the flyer", "skill": "Clamp", "language_memory": "The robot has clamped flyers and handed them to customers."}, {"start_frame": 382, "end_frame": 469, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them to customers."}, {"start_frame": 469, "end_frame": 626, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has clamped flyers and handed them over to customers."}, {"start_frame": 626, "end_frame": 685, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to the customer multiple times."}, {"start_frame": 685, "end_frame": 824, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully clamped flyers and handed them over to customers multiple times."}, {"start_frame": 824, "end_frame": 879, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has successfully clamped flyers and handed them over to customers multiple times."}, {"start_frame": 879, "end_frame": 1053, "action_text": "clamp the flyer", "skill": "Clamp", "language_memory": "The robot has successfully clamped flyers and handed them over to customers multiple times."}, {"start_frame": 1053, "end_frame": 1115, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to customers multiple times."}, {"start_frame": 1115, "end_frame": 1311, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully clamped and handed out flyers to customers multiple times."}, {"start_frame": 1311, "end_frame": 1369, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to customers multiple times."}, {"start_frame": 1369, "end_frame": 1526, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully clamped and handed out flyers to multiple customers."}, {"start_frame": 1526, "end_frame": 1580, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has successfully clamped and handed out flyers to multiple customers."}, {"start_frame": 1580, "end_frame": 1768, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully handed out flyers to multiple customers."}, {"start_frame": 1768, "end_frame": 1814, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has successfully handed out flyers to multiple customers."}], "detailed_task_instruction": ["Clamp a flyer and hand it to the customer, then repeat this sequence of clamping flyers and handing them to the customer multiple times until all flyers have been distributed."]}
{"task_id": "task_4053", "episode_index": 48, "video_path": "task_4053/videos/chunk-000/{video_key}/episode_000048.mp4", "tasks": ["Handing out flyers."], "length": 1735, "action_config": [{"start_frame": 0, "end_frame": 198, "action_text": "clamp the flyer", "skill": "Clamp", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 198, "end_frame": 254, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The flyer has been clamped."}, {"start_frame": 254, "end_frame": 402, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has clamped a flyer and handed it to the customer."}, {"start_frame": 402, "end_frame": 458, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them to customers."}, {"start_frame": 458, "end_frame": 614, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has clamped flyers and handed them over to customers."}, {"start_frame": 614, "end_frame": 666, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to customers multiple times."}, {"start_frame": 666, "end_frame": 830, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully handed out multiple flyers to customers."}, {"start_frame": 830, "end_frame": 958, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has successfully handed out multiple flyers to customers."}, {"start_frame": 958, "end_frame": 1143, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully handed out multiple flyers to customers."}, {"start_frame": 1143, "end_frame": 1207, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has successfully handed out multiple flyers to customers."}, {"start_frame": 1207, "end_frame": 1314, "action_text": "clamp the flyer", "skill": "Clamp", "language_memory": "The robot has successfully handed out multiple flyers to customers."}, {"start_frame": 1314, "end_frame": 1376, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has successfully handed out multiple flyers to customers."}, {"start_frame": 1376, "end_frame": 1680, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully handed out flyers to multiple customers."}, {"start_frame": 1680, "end_frame": 1734, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has successfully handed out flyers to multiple customers."}], "detailed_task_instruction": ["Clamp a flyer and hand it to the customer, then repeat this process for multiple flyers by clamping each one and handing it over to the customer in sequence until all flyers have been distributed."]}
{"task_id": "task_4053", "episode_index": 49, "video_path": "task_4053/videos/chunk-000/{video_key}/episode_000049.mp4", "tasks": ["Handing out flyers."], "length": 1760, "action_config": [{"start_frame": 0, "end_frame": 224, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 224, "end_frame": 289, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped the flyers."}, {"start_frame": 289, "end_frame": 477, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has clamped flyers and handed them to customers."}, {"start_frame": 477, "end_frame": 537, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them to customers."}, {"start_frame": 537, "end_frame": 686, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has clamped flyers and handed them over to customers."}, {"start_frame": 686, "end_frame": 746, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to customers multiple times."}, {"start_frame": 746, "end_frame": 942, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully handed out flyers to customers multiple times."}, {"start_frame": 942, "end_frame": 998, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to customers multiple times."}, {"start_frame": 998, "end_frame": 1139, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully handed out flyers to multiple customers."}, {"start_frame": 1139, "end_frame": 1201, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to customers multiple times."}, {"start_frame": 1201, "end_frame": 1391, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully handed out flyers to multiple customers."}, {"start_frame": 1391, "end_frame": 1442, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to customers multiple times."}, {"start_frame": 1442, "end_frame": 1702, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully handed out flyers to multiple customers."}, {"start_frame": 1702, "end_frame": 1759, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to multiple customers."}], "detailed_task_instruction": ["Clamp a flyer and hand it over to the customer, then repeat this sequence of clamping a flyer and handing it to the customer six more times to distribute a total of seven flyers."]}
{"task_id": "task_4053", "episode_index": 50, "video_path": "task_4053/videos/chunk-000/{video_key}/episode_000050.mp4", "tasks": ["Handing out flyers."], "length": 1741, "action_config": [{"start_frame": 0, "end_frame": 175, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 175, "end_frame": 236, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped the flyers."}, {"start_frame": 236, "end_frame": 371, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has clamped flyers and handed them to customers."}, {"start_frame": 371, "end_frame": 436, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them to customers."}, {"start_frame": 436, "end_frame": 587, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has clamped flyers and handed them over to customers."}, {"start_frame": 587, "end_frame": 648, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to customers multiple times."}, {"start_frame": 648, "end_frame": 861, "action_text": "clamp the flyer", "skill": "Clamp", "language_memory": "The robot has successfully handed out flyers to customers multiple times."}, {"start_frame": 861, "end_frame": 929, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to customers multiple times."}, {"start_frame": 929, "end_frame": 1188, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully handed out flyers to multiple customers."}, {"start_frame": 1188, "end_frame": 1252, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has successfully handed out flyers to multiple customers."}, {"start_frame": 1252, "end_frame": 1443, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully clamped flyers and handed them over to multiple customers."}, {"start_frame": 1443, "end_frame": 1505, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has successfully clamped flyers and handed them over to multiple customers."}, {"start_frame": 1505, "end_frame": 1650, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully handed out flyers to multiple customers."}, {"start_frame": 1650, "end_frame": 1718, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has successfully clamped flyers and handed them over to multiple customers."}], "detailed_task_instruction": ["Clamp a flyer and hand it to the customer, then repeat this process for multiple flyers, ensuring each one is clamped before being handed over to the customer in a continuous sequence."]}
{"task_id": "task_4053", "episode_index": 51, "video_path": "task_4053/videos/chunk-000/{video_key}/episode_000051.mp4", "tasks": ["Handing out flyers."], "length": 1767, "action_config": [{"start_frame": 0, "end_frame": 271, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 271, "end_frame": 332, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped the flyers."}, {"start_frame": 332, "end_frame": 483, "action_text": "clamp the flyer", "skill": "Clamp", "language_memory": "The robot has clamped flyers and handed them to customers."}, {"start_frame": 483, "end_frame": 559, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them to customers."}, {"start_frame": 559, "end_frame": 772, "action_text": "clamp the flyer", "skill": "Clamp", "language_memory": "The robot has clamped flyers and handed them over to customers."}, {"start_frame": 772, "end_frame": 835, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to customers multiple times."}, {"start_frame": 835, "end_frame": 1009, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has clamped flyers and handed them over to customers multiple times."}, {"start_frame": 1009, "end_frame": 1063, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to customers multiple times."}, {"start_frame": 1063, "end_frame": 1227, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully clamped and handed out flyers to multiple customers."}, {"start_frame": 1227, "end_frame": 1282, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to customers multiple times."}, {"start_frame": 1282, "end_frame": 1471, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has clamped flyers and handed them over to customers multiple times."}, {"start_frame": 1471, "end_frame": 1527, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to customers multiple times."}, {"start_frame": 1527, "end_frame": 1700, "action_text": "clamp the flyer", "skill": "Clamp", "language_memory": "The robot has successfully clamped and handed out flyers to multiple customers."}, {"start_frame": 1700, "end_frame": 1758, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to customers multiple times."}], "detailed_task_instruction": ["Clamp a flyer and hand it to the customer, then repeat this sequence for multiple flyers, ensuring each flyer is clamped before being handed over to the customer in a continuous cycle until all flyers have been distributed."]}
{"task_id": "task_4053", "episode_index": 52, "video_path": "task_4053/videos/chunk-000/{video_key}/episode_000052.mp4", "tasks": ["Handing out flyers."], "length": 1762, "action_config": [{"start_frame": 0, "end_frame": 155, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 155, "end_frame": 214, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped the flyers."}, {"start_frame": 214, "end_frame": 364, "action_text": "clamp the flyer", "skill": "Clamp", "language_memory": "The robot has clamped flyers and handed them to customers."}, {"start_frame": 364, "end_frame": 431, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them to customers."}, {"start_frame": 431, "end_frame": 624, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has clamped flyers and handed them over to customers."}, {"start_frame": 624, "end_frame": 682, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to the customer multiple times."}, {"start_frame": 682, "end_frame": 835, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully clamped flyers and handed them over to customers multiple times."}, {"start_frame": 835, "end_frame": 898, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has successfully clamped flyers and handed them over to customers multiple times."}, {"start_frame": 898, "end_frame": 1050, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully clamped flyers and handed them over to customers multiple times."}, {"start_frame": 1050, "end_frame": 1111, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to customers multiple times."}, {"start_frame": 1111, "end_frame": 1287, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully clamped and handed out flyers to customers multiple times."}, {"start_frame": 1287, "end_frame": 1350, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to the customer multiple times."}, {"start_frame": 1350, "end_frame": 1498, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully clamped and handed out flyers to multiple customers."}, {"start_frame": 1498, "end_frame": 1552, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to customers multiple times."}, {"start_frame": 1552, "end_frame": 1673, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully handed out flyers to multiple customers."}, {"start_frame": 1673, "end_frame": 1741, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has successfully clamped flyers and handed them over to multiple customers."}], "detailed_task_instruction": ["Clamp a flyer and hand it over to the customer, then repeat this sequence of clamping a flyer and handing it to the customer six more times to distribute a total of seven flyers."]}
{"task_id": "task_4053", "episode_index": 53, "video_path": "task_4053/videos/chunk-000/{video_key}/episode_000053.mp4", "tasks": ["Handing out flyers."], "length": 1653, "action_config": [{"start_frame": 0, "end_frame": 191, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 191, "end_frame": 243, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped the flyers."}, {"start_frame": 243, "end_frame": 400, "action_text": "clamp the flyer", "skill": "Clamp", "language_memory": "The robot has clamped flyers and handed them to customers."}, {"start_frame": 400, "end_frame": 455, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them to customers."}, {"start_frame": 455, "end_frame": 583, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has clamped flyers and handed them over to customers."}, {"start_frame": 583, "end_frame": 641, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to the customer multiple times."}, {"start_frame": 641, "end_frame": 810, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully clamped flyers and handed them over to customers multiple times."}, {"start_frame": 810, "end_frame": 877, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has successfully clamped flyers and handed them over to customers multiple times."}, {"start_frame": 877, "end_frame": 1025, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully clamped flyers and handed them over to customers multiple times."}, {"start_frame": 1025, "end_frame": 1081, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to customers multiple times."}, {"start_frame": 1081, "end_frame": 1258, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully clamped and handed out flyers to customers multiple times."}, {"start_frame": 1258, "end_frame": 1314, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to the customer multiple times."}, {"start_frame": 1314, "end_frame": 1601, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully clamped and handed out flyers to multiple customers."}, {"start_frame": 1601, "end_frame": 1652, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to customers multiple times."}], "detailed_task_instruction": ["Clamp a flyer and hand it over to the customer, then repeat this sequence of clamping a flyer and handing it to the customer multiple times to distribute the flyers."]}
{"task_id": "task_4053", "episode_index": 54, "video_path": "task_4053/videos/chunk-000/{video_key}/episode_000054.mp4", "tasks": ["Handing out flyers."], "length": 1872, "action_config": [{"start_frame": 0, "end_frame": 197, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 197, "end_frame": 260, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped the flyers."}, {"start_frame": 260, "end_frame": 382, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has clamped flyers and handed them to customers."}, {"start_frame": 382, "end_frame": 437, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them to customers."}, {"start_frame": 437, "end_frame": 640, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has clamped flyers and handed them over to customers."}, {"start_frame": 640, "end_frame": 690, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to customers multiple times."}, {"start_frame": 690, "end_frame": 798, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully handed out flyers to customers multiple times."}, {"start_frame": 798, "end_frame": 850, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to customers multiple times."}, {"start_frame": 850, "end_frame": 992, "action_text": "clamp the flyer", "skill": "Clamp", "language_memory": "The robot has successfully handed out flyers to multiple customers."}, {"start_frame": 992, "end_frame": 1046, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to customers multiple times."}, {"start_frame": 1046, "end_frame": 1205, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully handed out multiple flyers to customers."}, {"start_frame": 1205, "end_frame": 1260, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to customers multiple times."}, {"start_frame": 1260, "end_frame": 1371, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully handed out multiple flyers to customers."}, {"start_frame": 1371, "end_frame": 1433, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has successfully clamped and handed out flyers to multiple customers."}, {"start_frame": 1433, "end_frame": 1628, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully handed out multiple flyers to customers."}, {"start_frame": 1628, "end_frame": 1682, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has successfully clamped and handed out flyers to multiple customers."}, {"start_frame": 1682, "end_frame": 1811, "action_text": "clamp the flyer", "skill": "Clamp", "language_memory": "The robot has successfully handed out multiple flyers to customers."}, {"start_frame": 1811, "end_frame": 1871, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has repeatedly clamped flyers and handed them to customers."}], "detailed_task_instruction": ["Clamp a flyer and hand it to the customer, then repeat this sequence of clamping a flyer and handing it to the customer multiple times until all flyers have been distributed."]}
{"task_id": "task_4053", "episode_index": 55, "video_path": "task_4053/videos/chunk-000/{video_key}/episode_000055.mp4", "tasks": ["Handing out flyers."], "length": 1762, "action_config": [{"start_frame": 0, "end_frame": 176, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 176, "end_frame": 233, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped the flyers."}, {"start_frame": 233, "end_frame": 426, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has clamped flyers and handed them to customers."}, {"start_frame": 426, "end_frame": 493, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them to customers."}, {"start_frame": 493, "end_frame": 643, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has clamped flyers and handed them over to customers."}, {"start_frame": 643, "end_frame": 698, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to customers multiple times."}, {"start_frame": 698, "end_frame": 873, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully handed out flyers to customers multiple times."}, {"start_frame": 873, "end_frame": 932, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to customers multiple times."}, {"start_frame": 932, "end_frame": 1084, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully handed out flyers to multiple customers."}, {"start_frame": 1084, "end_frame": 1140, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to customers multiple times."}, {"start_frame": 1140, "end_frame": 1290, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully handed out flyers to multiple customers."}, {"start_frame": 1290, "end_frame": 1348, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to customers multiple times."}, {"start_frame": 1348, "end_frame": 1481, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully handed out flyers to multiple customers."}, {"start_frame": 1481, "end_frame": 1543, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to multiple customers."}, {"start_frame": 1543, "end_frame": 1696, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully handed out flyers to multiple customers."}, {"start_frame": 1696, "end_frame": 1761, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to multiple customers."}], "detailed_task_instruction": ["Clamp a flyer and hand it to the customer, then repeat this sequence of clamping a flyer and handing it to the customer six more times to distribute a total of seven flyers."]}
{"task_id": "task_4053", "episode_index": 56, "video_path": "task_4053/videos/chunk-000/{video_key}/episode_000056.mp4", "tasks": ["Handing out flyers."], "length": 1743, "action_config": [{"start_frame": 0, "end_frame": 141, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 141, "end_frame": 208, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped the flyers."}, {"start_frame": 208, "end_frame": 402, "action_text": "clamp the flyer", "skill": "Clamp", "language_memory": "The robot has clamped flyers and handed them to customers."}, {"start_frame": 402, "end_frame": 471, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them to customers."}, {"start_frame": 471, "end_frame": 622, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has clamped flyers and handed them over to customers."}, {"start_frame": 622, "end_frame": 688, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to the customer multiple times."}, {"start_frame": 688, "end_frame": 885, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully clamped flyers and handed them over to customers multiple times."}, {"start_frame": 885, "end_frame": 955, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has successfully clamped flyers and handed them over to customers multiple times."}, {"start_frame": 955, "end_frame": 1069, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully clamped flyers and handed them over to customers multiple times."}, {"start_frame": 1069, "end_frame": 1138, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to customers multiple times."}, {"start_frame": 1138, "end_frame": 1277, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully clamped and handed out flyers to customers multiple times."}, {"start_frame": 1277, "end_frame": 1349, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to the customer multiple times."}, {"start_frame": 1349, "end_frame": 1503, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully clamped and handed out flyers to multiple customers."}, {"start_frame": 1503, "end_frame": 1562, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to customers multiple times."}, {"start_frame": 1562, "end_frame": 1688, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully handed out flyers to multiple customers."}, {"start_frame": 1688, "end_frame": 1742, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has successfully clamped flyers and handed them over to multiple customers."}], "detailed_task_instruction": ["Clamp a flyer and hand it over to the customer, then repeat this sequence of clamping a flyer and handing it to the customer six more times to distribute a total of seven flyers."]}
{"task_id": "task_4053", "episode_index": 57, "video_path": "task_4053/videos/chunk-000/{video_key}/episode_000057.mp4", "tasks": ["Handing out flyers."], "length": 1843, "action_config": [{"start_frame": 0, "end_frame": 196, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 196, "end_frame": 253, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped the flyers."}, {"start_frame": 253, "end_frame": 430, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has clamped flyers and handed them to customers."}, {"start_frame": 430, "end_frame": 490, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them to customers."}, {"start_frame": 490, "end_frame": 652, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has clamped flyers and handed them over to customers."}, {"start_frame": 652, "end_frame": 706, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to customers multiple times."}, {"start_frame": 706, "end_frame": 938, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully handed out flyers to customers multiple times."}, {"start_frame": 938, "end_frame": 992, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to customers multiple times."}, {"start_frame": 992, "end_frame": 1108, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully handed out flyers to multiple customers."}, {"start_frame": 1108, "end_frame": 1166, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to customers multiple times."}, {"start_frame": 1166, "end_frame": 1400, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully handed out flyers to multiple customers."}, {"start_frame": 1400, "end_frame": 1463, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to customers multiple times."}, {"start_frame": 1463, "end_frame": 1603, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully handed out flyers to multiple customers."}, {"start_frame": 1603, "end_frame": 1659, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to multiple customers."}, {"start_frame": 1659, "end_frame": 1797, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully handed out flyers to multiple customers."}, {"start_frame": 1797, "end_frame": 1842, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to multiple customers."}], "detailed_task_instruction": ["Clamp a flyer and hand it to the customer, then repeat this sequence of clamping a flyer and handing it to the customer six more times to distribute a total of seven flyers."]}
{"task_id": "task_4053", "episode_index": 58, "video_path": "task_4053/videos/chunk-000/{video_key}/episode_000058.mp4", "tasks": ["Handing out flyers."], "length": 1913, "action_config": [{"start_frame": 0, "end_frame": 171, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 171, "end_frame": 231, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped the flyers."}, {"start_frame": 231, "end_frame": 363, "action_text": "clamp the flyer", "skill": "Clamp", "language_memory": "The robot has clamped flyers and handed them to customers."}, {"start_frame": 363, "end_frame": 424, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them to customers."}, {"start_frame": 424, "end_frame": 559, "action_text": "clamp the flyer", "skill": "Clamp", "language_memory": "The robot has clamped flyers and handed them over to customers."}, {"start_frame": 559, "end_frame": 616, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to customers multiple times."}, {"start_frame": 616, "end_frame": 768, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has clamped flyers and handed them over to customers multiple times."}, {"start_frame": 768, "end_frame": 829, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to customers multiple times."}, {"start_frame": 829, "end_frame": 990, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully clamped and handed out flyers to multiple customers."}, {"start_frame": 990, "end_frame": 1055, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to customers multiple times."}, {"start_frame": 1055, "end_frame": 1212, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has clamped flyers and handed them over to customers multiple times."}, {"start_frame": 1212, "end_frame": 1270, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to customers multiple times."}, {"start_frame": 1270, "end_frame": 1433, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully clamped and handed out flyers to multiple customers."}, {"start_frame": 1433, "end_frame": 1485, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to customers multiple times."}, {"start_frame": 1485, "end_frame": 1658, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully clamped flyers and handed them over to multiple customers."}, {"start_frame": 1658, "end_frame": 1718, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to customers multiple times."}, {"start_frame": 1718, "end_frame": 1864, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully handed out flyers to multiple customers."}, {"start_frame": 1864, "end_frame": 1912, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to customers multiple times."}], "detailed_task_instruction": ["Clamp a flyer and hand it to the customer, then repeat this process for multiple flyers, ensuring each flyer is clamped before being handed over to the customer in a continuous sequence."]}
{"task_id": "task_4053", "episode_index": 59, "video_path": "task_4053/videos/chunk-000/{video_key}/episode_000059.mp4", "tasks": ["Handing out flyers."], "length": 1892, "action_config": [{"start_frame": 0, "end_frame": 138, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 138, "end_frame": 197, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped the flyers."}, {"start_frame": 197, "end_frame": 324, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has clamped flyers and handed them to customers."}, {"start_frame": 324, "end_frame": 385, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them to customers."}, {"start_frame": 385, "end_frame": 531, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has clamped flyers and handed them over to customers."}, {"start_frame": 531, "end_frame": 587, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to customers multiple times."}, {"start_frame": 587, "end_frame": 794, "action_text": "clamp the flyer", "skill": "Clamp", "language_memory": "The robot has successfully handed out flyers to customers multiple times."}, {"start_frame": 794, "end_frame": 848, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to customers multiple times."}, {"start_frame": 848, "end_frame": 992, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully handed out flyers to multiple customers."}, {"start_frame": 992, "end_frame": 1048, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has successfully handed out flyers to multiple customers."}, {"start_frame": 1048, "end_frame": 1157, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully clamped flyers and handed them over to multiple customers."}, {"start_frame": 1157, "end_frame": 1218, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has successfully clamped flyers and handed them over to multiple customers."}, {"start_frame": 1218, "end_frame": 1378, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully handed out flyers to multiple customers."}, {"start_frame": 1378, "end_frame": 1438, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has successfully clamped flyers and handed them over to multiple customers."}, {"start_frame": 1438, "end_frame": 1623, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully handed out flyers to multiple customers."}, {"start_frame": 1623, "end_frame": 1683, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has successfully handed out flyers to multiple customers."}, {"start_frame": 1683, "end_frame": 1830, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully handed out flyers to multiple customers."}, {"start_frame": 1830, "end_frame": 1891, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has repeatedly clamped flyers and handed them over to customers."}], "detailed_task_instruction": ["Clamp a flyer and hand it to the customer, then repeat this process for multiple flyers, ensuring each one is clamped before being handed over to the customer in a continuous sequence."]}
{"task_id": "task_4053", "episode_index": 60, "video_path": "task_4053/videos/chunk-000/{video_key}/episode_000060.mp4", "tasks": ["Handing out flyers."], "length": 1663, "action_config": [{"start_frame": 0, "end_frame": 206, "action_text": "clamp the flyer", "skill": "Clamp", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 206, "end_frame": 263, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The flyer has been clamped."}, {"start_frame": 263, "end_frame": 420, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has clamped a flyer and handed it to the customer."}, {"start_frame": 420, "end_frame": 488, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them to customers."}, {"start_frame": 488, "end_frame": 645, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has clamped flyers and handed them over to customers."}, {"start_frame": 645, "end_frame": 704, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to customers multiple times."}, {"start_frame": 704, "end_frame": 852, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully handed out multiple flyers to customers."}, {"start_frame": 852, "end_frame": 913, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has successfully handed out multiple flyers to customers."}, {"start_frame": 913, "end_frame": 1029, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully handed out multiple flyers to customers."}, {"start_frame": 1029, "end_frame": 1084, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has successfully handed out multiple flyers to customers."}, {"start_frame": 1084, "end_frame": 1215, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully handed out multiple flyers to customers."}, {"start_frame": 1215, "end_frame": 1273, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has successfully handed out multiple flyers to customers."}, {"start_frame": 1273, "end_frame": 1380, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully handed out multiple flyers to customers."}, {"start_frame": 1380, "end_frame": 1439, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has successfully handed out flyers to multiple customers."}, {"start_frame": 1439, "end_frame": 1605, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully handed out flyers to multiple customers."}, {"start_frame": 1605, "end_frame": 1662, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has successfully handed out flyers to multiple customers."}], "detailed_task_instruction": ["Clamp a flyer and hand it over to the customer, then repeat this sequence of clamping flyers and handing them to the customer multiple times until all flyers have been distributed."]}
{"task_id": "task_4053", "episode_index": 61, "video_path": "task_4053/videos/chunk-000/{video_key}/episode_000061.mp4", "tasks": ["Handing out flyers."], "length": 1839, "action_config": [{"start_frame": 0, "end_frame": 164, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 164, "end_frame": 216, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped the flyers."}, {"start_frame": 216, "end_frame": 390, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has clamped flyers and handed them to customers."}, {"start_frame": 390, "end_frame": 446, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them to customers."}, {"start_frame": 446, "end_frame": 623, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has clamped flyers and handed them over to customers."}, {"start_frame": 623, "end_frame": 681, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to customers multiple times."}, {"start_frame": 681, "end_frame": 810, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully handed out flyers to customers multiple times."}, {"start_frame": 810, "end_frame": 868, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to customers multiple times."}, {"start_frame": 868, "end_frame": 1030, "action_text": "clamp the flyer", "skill": "Clamp", "language_memory": "The robot has successfully handed out flyers to multiple customers."}, {"start_frame": 1030, "end_frame": 1088, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to customers multiple times."}, {"start_frame": 1088, "end_frame": 1224, "action_text": "clamp the flyer", "skill": "Clamp", "language_memory": "The robot has successfully handed out multiple flyers to customers."}, {"start_frame": 1224, "end_frame": 1279, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped and handed out flyers to customers multiple times."}, {"start_frame": 1279, "end_frame": 1421, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully handed out multiple flyers to customers."}, {"start_frame": 1421, "end_frame": 1475, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has repeatedly clamped flyers and handed them to customers."}, {"start_frame": 1475, "end_frame": 1602, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully clamped and handed out multiple flyers to customers."}, {"start_frame": 1602, "end_frame": 1661, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has successfully clamped and handed out multiple flyers to customers."}, {"start_frame": 1661, "end_frame": 1791, "action_text": "clamp the flyer", "skill": "Clamp", "language_memory": "The robot has successfully handed out multiple flyers to customers."}, {"start_frame": 1791, "end_frame": 1838, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has repeatedly clamped flyers and handed them to customers."}], "detailed_task_instruction": ["Clamp a flyer and hand it to the customer, then repeat this sequence of clamping flyers and handing them to customers multiple times until all flyers have been distributed."]}
{"task_id": "task_4053", "episode_index": 62, "video_path": "task_4053/videos/chunk-000/{video_key}/episode_000062.mp4", "tasks": ["Handing out flyers."], "length": 1744, "action_config": [{"start_frame": 0, "end_frame": 187, "action_text": "clamp the flyer", "skill": "Clamp", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 187, "end_frame": 243, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The flyer has been clamped."}, {"start_frame": 243, "end_frame": 345, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has clamped a flyer and handed it to the customer."}, {"start_frame": 345, "end_frame": 398, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them to customers."}, {"start_frame": 398, "end_frame": 533, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has clamped flyers and handed them over to customers."}, {"start_frame": 533, "end_frame": 585, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to customers multiple times."}, {"start_frame": 585, "end_frame": 712, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully handed out multiple flyers to customers."}, {"start_frame": 712, "end_frame": 764, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has successfully handed out multiple flyers to customers."}, {"start_frame": 764, "end_frame": 863, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully handed out multiple flyers to customers."}, {"start_frame": 863, "end_frame": 922, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has successfully handed out multiple flyers to customers."}, {"start_frame": 922, "end_frame": 1078, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully handed out multiple flyers to customers."}, {"start_frame": 1078, "end_frame": 1131, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has successfully handed out multiple flyers to customers."}, {"start_frame": 1131, "end_frame": 1284, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully handed out multiple flyers to customers."}, {"start_frame": 1284, "end_frame": 1341, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has successfully handed out flyers to multiple customers."}, {"start_frame": 1341, "end_frame": 1465, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully handed out flyers to multiple customers."}, {"start_frame": 1465, "end_frame": 1528, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has successfully handed out flyers to multiple customers."}, {"start_frame": 1528, "end_frame": 1690, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully handed out flyers to multiple customers."}, {"start_frame": 1690, "end_frame": 1743, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has repeatedly clamped flyers and handed them to customers."}], "detailed_task_instruction": ["Clamp a flyer and hand it over to the customer, then repeat this sequence of clamping flyers and handing them to customers multiple times until all flyers have been distributed."]}
{"task_id": "task_4053", "episode_index": 63, "video_path": "task_4053/videos/chunk-000/{video_key}/episode_000063.mp4", "tasks": ["Handing out flyers."], "length": 1694, "action_config": [{"start_frame": 0, "end_frame": 155, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 155, "end_frame": 216, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped the flyers."}, {"start_frame": 216, "end_frame": 315, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has clamped flyers and handed them to customers."}, {"start_frame": 315, "end_frame": 376, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them to customers."}, {"start_frame": 376, "end_frame": 482, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has clamped flyers and handed them over to customers."}, {"start_frame": 482, "end_frame": 542, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to customers multiple times."}, {"start_frame": 542, "end_frame": 692, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully handed out flyers to customers multiple times."}, {"start_frame": 692, "end_frame": 759, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to customers multiple times."}, {"start_frame": 759, "end_frame": 911, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully handed out flyers to multiple customers."}, {"start_frame": 911, "end_frame": 958, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to customers multiple times."}, {"start_frame": 958, "end_frame": 1070, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully handed out flyers to multiple customers."}, {"start_frame": 1070, "end_frame": 1129, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to customers multiple times."}, {"start_frame": 1129, "end_frame": 1234, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully handed out flyers to multiple customers."}, {"start_frame": 1234, "end_frame": 1286, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to multiple customers."}, {"start_frame": 1286, "end_frame": 1409, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully handed out flyers to multiple customers."}, {"start_frame": 1409, "end_frame": 1475, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to multiple customers."}, {"start_frame": 1475, "end_frame": 1612, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully handed out flyers to multiple customers."}, {"start_frame": 1612, "end_frame": 1693, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has repeatedly clamped flyers and handed them to customers."}], "detailed_task_instruction": ["Clamp a flyer and hand it over to the customer, then repeat this sequence of clamping a flyer and handing it to the customer eight more times to distribute a total of nine flyers."]}
{"task_id": "task_4053", "episode_index": 64, "video_path": "task_4053/videos/chunk-000/{video_key}/episode_000064.mp4", "tasks": ["Handing out flyers."], "length": 1825, "action_config": [{"start_frame": 0, "end_frame": 127, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 127, "end_frame": 184, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped the flyers."}, {"start_frame": 184, "end_frame": 334, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has clamped flyers and handed them to customers."}, {"start_frame": 334, "end_frame": 396, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them to customers."}, {"start_frame": 396, "end_frame": 530, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has clamped flyers and handed them over to customers."}, {"start_frame": 530, "end_frame": 588, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to customers multiple times."}, {"start_frame": 588, "end_frame": 731, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully handed out flyers to customers multiple times."}, {"start_frame": 731, "end_frame": 781, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to customers multiple times."}, {"start_frame": 781, "end_frame": 883, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully handed out flyers to multiple customers."}, {"start_frame": 883, "end_frame": 938, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to customers multiple times."}, {"start_frame": 938, "end_frame": 1071, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully handed out flyers to multiple customers."}, {"start_frame": 1071, "end_frame": 1124, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to customers multiple times."}, {"start_frame": 1124, "end_frame": 1217, "action_text": "clamp the flyer", "skill": "Clamp", "language_memory": "The robot has successfully handed out flyers to multiple customers."}, {"start_frame": 1217, "end_frame": 1272, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has handed out flyers to multiple customers."}, {"start_frame": 1272, "end_frame": 1433, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully handed out flyers to multiple customers."}, {"start_frame": 1433, "end_frame": 1488, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has successfully clamped flyers and handed them over to multiple customers."}, {"start_frame": 1488, "end_frame": 1757, "action_text": "clamp the flyer", "skill": "Clamp", "language_memory": "The robot has successfully clamped and handed out flyers to multiple customers."}, {"start_frame": 1757, "end_frame": 1824, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has successfully clamped and handed out flyers to multiple customers."}], "detailed_task_instruction": ["Clamp a flyer and hand it to the customer, then repeat this sequence of clamping a flyer and handing it to the customer multiple times to distribute the materials."]}
{"task_id": "task_4053", "episode_index": 65, "video_path": "task_4053/videos/chunk-000/{video_key}/episode_000065.mp4", "tasks": ["Handing out flyers."], "length": 1775, "action_config": [{"start_frame": 0, "end_frame": 246, "action_text": "clamp the flyer", "skill": "Clamp", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 246, "end_frame": 298, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The flyer has been clamped."}, {"start_frame": 298, "end_frame": 442, "action_text": "clamp the flyer", "skill": "Clamp", "language_memory": "The robot has clamped a flyer and handed it to the customer."}, {"start_frame": 442, "end_frame": 493, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot clamped flyers and handed them to customers."}, {"start_frame": 493, "end_frame": 598, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully handed out flyers to customers."}, {"start_frame": 598, "end_frame": 653, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to customers multiple times."}, {"start_frame": 653, "end_frame": 838, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has clamped flyers and handed them over to customers multiple times."}, {"start_frame": 838, "end_frame": 896, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped and handed out flyers to customers multiple times."}, {"start_frame": 896, "end_frame": 1035, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully handed out flyers to multiple customers."}, {"start_frame": 1035, "end_frame": 1096, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped and handed out flyers to customers multiple times."}, {"start_frame": 1096, "end_frame": 1253, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully clamped and handed out flyers to customers multiple times."}, {"start_frame": 1253, "end_frame": 1308, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped and handed out flyers to customers multiple times."}, {"start_frame": 1308, "end_frame": 1501, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully handed out flyers to multiple customers."}, {"start_frame": 1501, "end_frame": 1557, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has successfully clamped and handed out flyers to multiple customers."}, {"start_frame": 1557, "end_frame": 1717, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully handed out flyers to multiple customers."}, {"start_frame": 1717, "end_frame": 1774, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has successfully clamped and handed out flyers to multiple customers."}], "detailed_task_instruction": ["Clamp a flyer and hand it to the customer, then repeat this process for multiple flyers, clamping each one before handing it over to the customer in a continuous sequence until all flyers have been distributed."]}
{"task_id": "task_4053", "episode_index": 66, "video_path": "task_4053/videos/chunk-000/{video_key}/episode_000066.mp4", "tasks": ["Handing out flyers."], "length": 1824, "action_config": [{"start_frame": 0, "end_frame": 266, "action_text": "clamp the flyer", "skill": "Clamp", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 266, "end_frame": 337, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The flyer has been clamped."}, {"start_frame": 337, "end_frame": 497, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has clamped a flyer and handed it to the customer."}, {"start_frame": 497, "end_frame": 550, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them to customers."}, {"start_frame": 550, "end_frame": 710, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has clamped flyers and handed them over to customers."}, {"start_frame": 710, "end_frame": 774, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to customers multiple times."}, {"start_frame": 774, "end_frame": 887, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully handed out multiple flyers to customers."}, {"start_frame": 887, "end_frame": 951, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has successfully handed out multiple flyers to customers."}, {"start_frame": 951, "end_frame": 1221, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully handed out multiple flyers to customers."}, {"start_frame": 1221, "end_frame": 1287, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has successfully handed out multiple flyers to customers."}, {"start_frame": 1287, "end_frame": 1435, "action_text": "clamp the flyer", "skill": "Clamp", "language_memory": "The robot has successfully handed out multiple flyers to customers."}, {"start_frame": 1435, "end_frame": 1489, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has successfully handed out multiple flyers to customers."}, {"start_frame": 1489, "end_frame": 1703, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully handed out flyers to multiple customers."}, {"start_frame": 1703, "end_frame": 1774, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has successfully handed out flyers to multiple customers."}], "detailed_task_instruction": ["Clamp a flyer and hand it to the customer, then repeat this process for multiple flyers by clamping each one and handing it over to the customer in sequence until all flyers have been distributed."]}
{"task_id": "task_4053", "episode_index": 67, "video_path": "task_4053/videos/chunk-000/{video_key}/episode_000067.mp4", "tasks": ["Handing out flyers."], "length": 1849, "action_config": [{"start_frame": 0, "end_frame": 130, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 130, "end_frame": 191, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped the flyers."}, {"start_frame": 191, "end_frame": 467, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has clamped flyers and handed them to customers."}, {"start_frame": 467, "end_frame": 535, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them to customers."}, {"start_frame": 535, "end_frame": 698, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has clamped flyers and handed them over to customers."}, {"start_frame": 698, "end_frame": 765, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to customers multiple times."}, {"start_frame": 765, "end_frame": 1017, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully handed out flyers to customers multiple times."}, {"start_frame": 1017, "end_frame": 1079, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to customers multiple times."}, {"start_frame": 1079, "end_frame": 1308, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully handed out flyers to multiple customers."}, {"start_frame": 1308, "end_frame": 1368, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to customers multiple times."}, {"start_frame": 1368, "end_frame": 1497, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully handed out flyers to multiple customers."}, {"start_frame": 1497, "end_frame": 1556, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to customers multiple times."}, {"start_frame": 1556, "end_frame": 1741, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully handed out flyers to multiple customers."}, {"start_frame": 1741, "end_frame": 1803, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to multiple customers."}], "detailed_task_instruction": ["Clamp a flyer and hand it over to the customer, then repeat this sequence of clamping a flyer and handing it to the customer six more times to distribute a total of seven flyers."]}
{"task_id": "task_4053", "episode_index": 68, "video_path": "task_4053/videos/chunk-000/{video_key}/episode_000068.mp4", "tasks": ["Handing out flyers."], "length": 1664, "action_config": [{"start_frame": 0, "end_frame": 175, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 175, "end_frame": 233, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped the flyers."}, {"start_frame": 233, "end_frame": 375, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has clamped flyers and handed them to customers."}, {"start_frame": 375, "end_frame": 441, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them to customers."}, {"start_frame": 441, "end_frame": 542, "action_text": "clamp the flyer", "skill": "Clamp", "language_memory": "The robot has clamped flyers and handed them over to customers."}, {"start_frame": 542, "end_frame": 613, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to customers multiple times."}, {"start_frame": 613, "end_frame": 763, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has clamped flyers and handed them over to customers multiple times."}, {"start_frame": 763, "end_frame": 824, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to customers multiple times."}, {"start_frame": 824, "end_frame": 974, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully clamped flyers and handed them over to customers multiple times."}, {"start_frame": 974, "end_frame": 1041, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has successfully clamped flyers and handed them over to customers multiple times."}, {"start_frame": 1041, "end_frame": 1238, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully clamped flyers and handed them over to the customer multiple times."}, {"start_frame": 1238, "end_frame": 1306, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has successfully clamped and handed out flyers to multiple customers."}, {"start_frame": 1306, "end_frame": 1573, "action_text": "clamp the flyer", "skill": "Clamp", "language_memory": "The robot has successfully handed out flyers to multiple customers."}, {"start_frame": 1573, "end_frame": 1648, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has successfully clamped and handed out flyers to multiple customers."}], "detailed_task_instruction": ["Clamp a flyer and hand it to the customer, then repeat this process for multiple flyers, alternating between clamping each flyer and handing it over to the customer until all flyers have been distributed."]}
{"task_id": "task_4053", "episode_index": 69, "video_path": "task_4053/videos/chunk-000/{video_key}/episode_000069.mp4", "tasks": ["Handing out flyers."], "length": 1869, "action_config": [{"start_frame": 0, "end_frame": 164, "action_text": "clamp the flyer", "skill": "Clamp", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 164, "end_frame": 222, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The flyer has been clamped."}, {"start_frame": 222, "end_frame": 436, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has clamped a flyer and handed it to the customer."}, {"start_frame": 436, "end_frame": 502, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them to customers."}, {"start_frame": 502, "end_frame": 692, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has clamped flyers and handed them over to customers."}, {"start_frame": 692, "end_frame": 760, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to customers multiple times."}, {"start_frame": 760, "end_frame": 1151, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully handed out multiple flyers to customers."}, {"start_frame": 1151, "end_frame": 1209, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has successfully handed out multiple flyers to customers."}, {"start_frame": 1209, "end_frame": 1360, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully handed out multiple flyers to customers."}, {"start_frame": 1360, "end_frame": 1427, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has successfully handed out multiple flyers to customers."}, {"start_frame": 1427, "end_frame": 1566, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully handed out multiple flyers to customers."}, {"start_frame": 1566, "end_frame": 1641, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has successfully handed out multiple flyers to customers."}, {"start_frame": 1641, "end_frame": 1781, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully handed out multiple flyers to customers."}, {"start_frame": 1781, "end_frame": 1850, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has successfully handed out flyers to multiple customers."}], "detailed_task_instruction": ["Clamp a flyer and hand it over to the customer, then repeat this process by clamping additional flyers and handing each one to the customer until all flyers have been distributed."]}
{"task_id": "task_4053", "episode_index": 70, "video_path": "task_4053/videos/chunk-000/{video_key}/episode_000070.mp4", "tasks": ["Handing out flyers."], "length": 1520, "action_config": [{"start_frame": 0, "end_frame": 174, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 174, "end_frame": 236, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped the flyers."}, {"start_frame": 236, "end_frame": 378, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has clamped flyers and handed them to customers."}, {"start_frame": 378, "end_frame": 440, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them to customers."}, {"start_frame": 440, "end_frame": 573, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has clamped flyers and handed them over to customers."}, {"start_frame": 573, "end_frame": 630, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to customers multiple times."}, {"start_frame": 630, "end_frame": 768, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully handed out flyers to customers multiple times."}, {"start_frame": 768, "end_frame": 825, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to customers multiple times."}, {"start_frame": 825, "end_frame": 1071, "action_text": "clamp the flyer", "skill": "Clamp", "language_memory": "The robot has successfully handed out flyers to multiple customers."}, {"start_frame": 1071, "end_frame": 1125, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to customers multiple times."}, {"start_frame": 1125, "end_frame": 1254, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully handed out multiple flyers to customers."}, {"start_frame": 1254, "end_frame": 1309, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to customers multiple times."}, {"start_frame": 1309, "end_frame": 1447, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully handed out multiple flyers to customers."}, {"start_frame": 1447, "end_frame": 1512, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has successfully clamped and handed out flyers to multiple customers."}], "detailed_task_instruction": ["Clamp a flyer and hand it to the customer, then repeat this process for multiple flyers, ensuring each one is clamped before being handed over to the customer in a continuous sequence until all flyers have been distributed."]}
{"task_id": "task_4053", "episode_index": 71, "video_path": "task_4053/videos/chunk-000/{video_key}/episode_000071.mp4", "tasks": ["Handing out flyers."], "length": 1876, "action_config": [{"start_frame": 0, "end_frame": 484, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 484, "end_frame": 544, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped the flyers."}, {"start_frame": 544, "end_frame": 655, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has clamped flyers and handed them to customers."}, {"start_frame": 655, "end_frame": 710, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them to customers."}, {"start_frame": 710, "end_frame": 949, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has clamped flyers and handed them over to customers."}, {"start_frame": 949, "end_frame": 1007, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to customers multiple times."}, {"start_frame": 1007, "end_frame": 1163, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully handed out flyers to customers multiple times."}, {"start_frame": 1163, "end_frame": 1226, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to customers multiple times."}, {"start_frame": 1226, "end_frame": 1353, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully handed out flyers to multiple customers."}, {"start_frame": 1353, "end_frame": 1417, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to customers multiple times."}, {"start_frame": 1417, "end_frame": 1540, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully handed out flyers to multiple customers."}, {"start_frame": 1540, "end_frame": 1602, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to customers multiple times."}, {"start_frame": 1602, "end_frame": 1761, "action_text": "clamp the flyer", "skill": "Clamp", "language_memory": "The robot has successfully handed out flyers to multiple customers."}, {"start_frame": 1761, "end_frame": 1819, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has handed out flyers to multiple customers."}], "detailed_task_instruction": ["Clamp a flyer and hand it to the customer, then repeat this sequence of clamping a flyer and handing it to the customer five more times for a total of six flyers, and finally clamp the last flyer and hand it to the customer."]}
{"task_id": "task_4053", "episode_index": 72, "video_path": "task_4053/videos/chunk-000/{video_key}/episode_000072.mp4", "tasks": ["Handing out flyers."], "length": 1646, "action_config": [{"start_frame": 0, "end_frame": 223, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 223, "end_frame": 275, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped the flyers."}, {"start_frame": 275, "end_frame": 409, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has clamped flyers and handed them to customers."}, {"start_frame": 409, "end_frame": 467, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them to customers."}, {"start_frame": 467, "end_frame": 590, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has clamped flyers and handed them over to customers."}, {"start_frame": 590, "end_frame": 646, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to customers multiple times."}, {"start_frame": 646, "end_frame": 772, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully handed out flyers to customers multiple times."}, {"start_frame": 772, "end_frame": 828, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to customers multiple times."}, {"start_frame": 828, "end_frame": 1109, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully handed out flyers to multiple customers."}, {"start_frame": 1109, "end_frame": 1170, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to customers multiple times."}, {"start_frame": 1170, "end_frame": 1366, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully handed out flyers to multiple customers."}, {"start_frame": 1366, "end_frame": 1424, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to customers multiple times."}, {"start_frame": 1424, "end_frame": 1572, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully handed out flyers to multiple customers."}, {"start_frame": 1572, "end_frame": 1645, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to multiple customers."}], "detailed_task_instruction": ["Clamp a flyer and hand it over to the customer, then repeat this sequence of clamping a flyer and handing it to the customer six more times to distribute a total of seven flyers."]}
{"task_id": "task_4053", "episode_index": 73, "video_path": "task_4053/videos/chunk-000/{video_key}/episode_000073.mp4", "tasks": ["Handing out flyers."], "length": 1597, "action_config": [{"start_frame": 0, "end_frame": 167, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 167, "end_frame": 221, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped the flyers."}, {"start_frame": 221, "end_frame": 367, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has clamped flyers and handed them to customers."}, {"start_frame": 367, "end_frame": 428, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them to customers."}, {"start_frame": 428, "end_frame": 598, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has clamped flyers and handed them over to customers."}, {"start_frame": 598, "end_frame": 670, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to customers multiple times."}, {"start_frame": 670, "end_frame": 856, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully handed out flyers to customers multiple times."}, {"start_frame": 856, "end_frame": 914, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to customers multiple times."}, {"start_frame": 914, "end_frame": 1085, "action_text": "clamp the flyer", "skill": "Clamp", "language_memory": "The robot has successfully handed out flyers to multiple customers."}, {"start_frame": 1085, "end_frame": 1146, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to customers multiple times."}, {"start_frame": 1146, "end_frame": 1336, "action_text": "clamp the flyer", "skill": "Clamp", "language_memory": "The robot has successfully handed out multiple flyers to customers."}, {"start_frame": 1336, "end_frame": 1397, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped and handed out flyers to customers multiple times."}, {"start_frame": 1397, "end_frame": 1522, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully handed out multiple flyers to customers."}, {"start_frame": 1522, "end_frame": 1587, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has repeatedly clamped flyers and handed them to customers."}], "detailed_task_instruction": ["Clamp a flyer and hand it to the customer, then repeat this process for multiple flyers, ensuring each one is clamped before being handed over, and continue this sequence until all flyers have been distributed to the customers."]}
{"task_id": "task_4053", "episode_index": 74, "video_path": "task_4053/videos/chunk-000/{video_key}/episode_000074.mp4", "tasks": ["Handing out flyers."], "length": 1772, "action_config": [{"start_frame": 0, "end_frame": 199, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 199, "end_frame": 256, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped the flyers."}, {"start_frame": 256, "end_frame": 379, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has clamped flyers and handed them to customers."}, {"start_frame": 379, "end_frame": 433, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them to customers."}, {"start_frame": 433, "end_frame": 521, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has clamped flyers and handed them over to customers."}, {"start_frame": 521, "end_frame": 583, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to customers multiple times."}, {"start_frame": 583, "end_frame": 717, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully handed out flyers to customers multiple times."}, {"start_frame": 717, "end_frame": 770, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to customers multiple times."}, {"start_frame": 770, "end_frame": 906, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully handed out flyers to multiple customers."}, {"start_frame": 906, "end_frame": 965, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to customers multiple times."}, {"start_frame": 965, "end_frame": 1112, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully handed out flyers to multiple customers."}, {"start_frame": 1112, "end_frame": 1171, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to customers multiple times."}, {"start_frame": 1171, "end_frame": 1326, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully handed out flyers to multiple customers."}, {"start_frame": 1326, "end_frame": 1378, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to multiple customers."}, {"start_frame": 1378, "end_frame": 1499, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully handed out flyers to multiple customers."}, {"start_frame": 1499, "end_frame": 1561, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to multiple customers."}, {"start_frame": 1561, "end_frame": 1678, "action_text": "clamp the flyer", "skill": "Clamp", "language_memory": "The robot has successfully handed out flyers to multiple customers."}, {"start_frame": 1678, "end_frame": 1740, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to multiple customers."}], "detailed_task_instruction": ["Clamp a flyer and hand it to a customer, then repeat this sequence of clamping a flyer and handing it to a customer multiple times until all flyers have been distributed."]}
{"task_id": "task_4053", "episode_index": 75, "video_path": "task_4053/videos/chunk-000/{video_key}/episode_000075.mp4", "tasks": ["Handing out flyers."], "length": 1663, "action_config": [{"start_frame": 0, "end_frame": 139, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 139, "end_frame": 202, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped the flyers."}, {"start_frame": 202, "end_frame": 336, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has clamped flyers and handed them to customers."}, {"start_frame": 336, "end_frame": 395, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them to customers."}, {"start_frame": 395, "end_frame": 692, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has clamped flyers and handed them over to customers."}, {"start_frame": 692, "end_frame": 757, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to customers multiple times."}, {"start_frame": 757, "end_frame": 873, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully handed out flyers to customers multiple times."}, {"start_frame": 873, "end_frame": 934, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to customers multiple times."}, {"start_frame": 934, "end_frame": 1127, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully handed out flyers to multiple customers."}, {"start_frame": 1127, "end_frame": 1188, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to customers multiple times."}, {"start_frame": 1188, "end_frame": 1304, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully handed out flyers to multiple customers."}, {"start_frame": 1304, "end_frame": 1368, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to customers multiple times."}, {"start_frame": 1368, "end_frame": 1571, "action_text": "clamp the flyer", "skill": "Clamp", "language_memory": "The robot has successfully handed out flyers to multiple customers."}, {"start_frame": 1571, "end_frame": 1643, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has handed out flyers to multiple customers."}], "detailed_task_instruction": ["Clamp a flyer and hand it to the customer, then repeat this sequence of clamping a flyer and handing it to the customer five more times for a total of six flyers, and finally clamp the last flyer and hand it to the customer."]}
{"task_id": "task_4053", "episode_index": 76, "video_path": "task_4053/videos/chunk-000/{video_key}/episode_000076.mp4", "tasks": ["Handing out flyers."], "length": 1658, "action_config": [{"start_frame": 0, "end_frame": 163, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 163, "end_frame": 220, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped the flyers."}, {"start_frame": 220, "end_frame": 339, "action_text": "clamp the flyer", "skill": "Clamp", "language_memory": "The robot has clamped flyers and handed them to customers."}, {"start_frame": 339, "end_frame": 392, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them to customers."}, {"start_frame": 392, "end_frame": 548, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has clamped flyers and handed them over to customers."}, {"start_frame": 548, "end_frame": 601, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to the customer multiple times."}, {"start_frame": 601, "end_frame": 845, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully clamped flyers and handed them over to customers multiple times."}, {"start_frame": 845, "end_frame": 891, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has successfully clamped flyers and handed them over to customers multiple times."}, {"start_frame": 891, "end_frame": 1035, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully clamped flyers and handed them over to customers multiple times."}, {"start_frame": 1035, "end_frame": 1091, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to customers multiple times."}, {"start_frame": 1091, "end_frame": 1199, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully clamped and handed out flyers to customers multiple times."}, {"start_frame": 1199, "end_frame": 1253, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to the customer multiple times."}, {"start_frame": 1253, "end_frame": 1404, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully clamped and handed out flyers to multiple customers."}, {"start_frame": 1404, "end_frame": 1458, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to customers multiple times."}, {"start_frame": 1458, "end_frame": 1613, "action_text": "clamp the flyer", "skill": "Clamp", "language_memory": "The robot has successfully handed out flyers to multiple customers."}, {"start_frame": 1613, "end_frame": 1657, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has successfully clamped and handed out flyers to multiple customers."}], "detailed_task_instruction": ["Clamp a flyer and hand it to the customer, then repeat this sequence of clamping a flyer and handing it to the customer multiple times until all flyers have been distributed."]}
{"task_id": "task_4053", "episode_index": 77, "video_path": "task_4053/videos/chunk-000/{video_key}/episode_000077.mp4", "tasks": ["Handing out flyers."], "length": 1654, "action_config": [{"start_frame": 0, "end_frame": 149, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 149, "end_frame": 216, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped the flyers."}, {"start_frame": 216, "end_frame": 326, "action_text": "clamp the flyer", "skill": "Clamp", "language_memory": "The robot has clamped flyers and handed them to customers."}, {"start_frame": 326, "end_frame": 380, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them to customers."}, {"start_frame": 380, "end_frame": 521, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has clamped flyers and handed them over to customers."}, {"start_frame": 521, "end_frame": 580, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to the customer multiple times."}, {"start_frame": 580, "end_frame": 763, "action_text": "clamp the flyer", "skill": "Clamp", "language_memory": "The robot has successfully clamped flyers and handed them over to customers multiple times."}, {"start_frame": 763, "end_frame": 807, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has successfully handed out flyers to customers multiple times."}, {"start_frame": 807, "end_frame": 920, "action_text": "clamp the flyer", "skill": "Clamp", "language_memory": "The robot has successfully handed out flyers to multiple customers."}, {"start_frame": 920, "end_frame": 981, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has successfully handed out flyers to multiple customers."}, {"start_frame": 981, "end_frame": 1094, "action_text": "clamp the flyer", "skill": "Clamp", "language_memory": "The robot has successfully handed out flyers to multiple customers."}, {"start_frame": 1094, "end_frame": 1149, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has successfully clamped and handed out flyers to multiple customers."}, {"start_frame": 1149, "end_frame": 1328, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully handed out flyers to multiple customers."}, {"start_frame": 1328, "end_frame": 1387, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to multiple customers."}, {"start_frame": 1387, "end_frame": 1547, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully handed out flyers to multiple customers."}, {"start_frame": 1547, "end_frame": 1615, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has successfully clamped and handed out flyers to multiple customers."}], "detailed_task_instruction": ["Clamp a flyer and hand it to the customer, then repeat this sequence of clamping a flyer and handing it to the customer multiple times until all flyers have been distributed."]}
{"task_id": "task_4053", "episode_index": 78, "video_path": "task_4053/videos/chunk-000/{video_key}/episode_000078.mp4", "tasks": ["Handing out flyers."], "length": 1739, "action_config": [{"start_frame": 0, "end_frame": 145, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 145, "end_frame": 206, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped the flyers."}, {"start_frame": 206, "end_frame": 328, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has clamped flyers and handed them to customers."}, {"start_frame": 328, "end_frame": 381, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them to customers."}, {"start_frame": 381, "end_frame": 534, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has clamped flyers and handed them over to customers."}, {"start_frame": 534, "end_frame": 589, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to customers multiple times."}, {"start_frame": 589, "end_frame": 792, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully handed out flyers to customers multiple times."}, {"start_frame": 792, "end_frame": 842, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to customers multiple times."}, {"start_frame": 842, "end_frame": 945, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully handed out flyers to multiple customers."}, {"start_frame": 945, "end_frame": 999, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to customers multiple times."}, {"start_frame": 999, "end_frame": 1124, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully handed out flyers to multiple customers."}, {"start_frame": 1124, "end_frame": 1189, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to customers multiple times."}, {"start_frame": 1189, "end_frame": 1294, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully handed out flyers to multiple customers."}, {"start_frame": 1294, "end_frame": 1352, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to multiple customers."}, {"start_frame": 1352, "end_frame": 1458, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully handed out flyers to multiple customers."}, {"start_frame": 1458, "end_frame": 1514, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to multiple customers."}, {"start_frame": 1514, "end_frame": 1613, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully handed out flyers to multiple customers."}, {"start_frame": 1613, "end_frame": 1674, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has repeatedly clamped flyers and handed them to customers."}], "detailed_task_instruction": ["Clamp a flyer and hand it over to the customer, then repeat this sequence of clamping a flyer and handing it to the customer eight more times to distribute a total of nine flyers."]}
{"task_id": "task_4053", "episode_index": 79, "video_path": "task_4053/videos/chunk-000/{video_key}/episode_000079.mp4", "tasks": ["Handing out flyers."], "length": 1675, "action_config": [{"start_frame": 0, "end_frame": 199, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 199, "end_frame": 256, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped the flyers."}, {"start_frame": 256, "end_frame": 392, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has clamped flyers and handed them to customers."}, {"start_frame": 392, "end_frame": 445, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them to customers."}, {"start_frame": 445, "end_frame": 640, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has clamped flyers and handed them over to customers."}, {"start_frame": 640, "end_frame": 689, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to customers multiple times."}, {"start_frame": 689, "end_frame": 827, "action_text": "clamp the flyer", "skill": "Clamp", "language_memory": "The robot has successfully handed out flyers to customers multiple times."}, {"start_frame": 827, "end_frame": 886, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to customers multiple times."}, {"start_frame": 886, "end_frame": 1037, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully handed out flyers to multiple customers."}, {"start_frame": 1037, "end_frame": 1086, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has successfully handed out flyers to multiple customers."}, {"start_frame": 1086, "end_frame": 1184, "action_text": "clamp the flyer", "skill": "Clamp", "language_memory": "The robot has successfully clamped flyers and handed them over to multiple customers."}, {"start_frame": 1184, "end_frame": 1238, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to customers multiple times."}, {"start_frame": 1238, "end_frame": 1453, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully handed out flyers to multiple customers."}, {"start_frame": 1453, "end_frame": 1511, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has repeatedly clamped flyers and handed them over to customers."}, {"start_frame": 1511, "end_frame": 1606, "action_text": "clamp the flyer", "skill": "Clamp", "language_memory": "The robot has successfully handed out flyers to multiple customers."}, {"start_frame": 1606, "end_frame": 1674, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has repeatedly clamped flyers and handed them to customers."}], "detailed_task_instruction": ["Clamp a flyer and hand it to the customer, then repeat this sequence of clamping flyers and handing them to customers multiple times to distribute the entire batch."]}
{"task_id": "task_4053", "episode_index": 80, "video_path": "task_4053/videos/chunk-000/{video_key}/episode_000080.mp4", "tasks": ["Handing out flyers."], "length": 1655, "action_config": [{"start_frame": 0, "end_frame": 111, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 111, "end_frame": 165, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped the flyers."}, {"start_frame": 165, "end_frame": 280, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has clamped flyers and handed them to customers."}, {"start_frame": 280, "end_frame": 335, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them to customers."}, {"start_frame": 335, "end_frame": 441, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has clamped flyers and handed them over to customers."}, {"start_frame": 441, "end_frame": 497, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to customers multiple times."}, {"start_frame": 497, "end_frame": 619, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully handed out flyers to customers multiple times."}, {"start_frame": 619, "end_frame": 673, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to customers multiple times."}, {"start_frame": 673, "end_frame": 811, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully handed out flyers to multiple customers."}, {"start_frame": 811, "end_frame": 864, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to customers multiple times."}, {"start_frame": 864, "end_frame": 985, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully handed out flyers to multiple customers."}, {"start_frame": 985, "end_frame": 1043, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to customers multiple times."}, {"start_frame": 1043, "end_frame": 1193, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully handed out flyers to multiple customers."}, {"start_frame": 1193, "end_frame": 1251, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to multiple customers."}, {"start_frame": 1251, "end_frame": 1388, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully handed out flyers to multiple customers."}, {"start_frame": 1388, "end_frame": 1446, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to multiple customers."}, {"start_frame": 1446, "end_frame": 1563, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully handed out flyers to multiple customers."}, {"start_frame": 1563, "end_frame": 1654, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has repeatedly clamped flyers and handed them to customers."}], "detailed_task_instruction": ["Clamp a flyer and hand it over to the customer, then repeat this sequence of clamping a flyer and handing it to the customer eight more times to distribute a total of nine flyers."]}
{"task_id": "task_4053", "episode_index": 81, "video_path": "task_4053/videos/chunk-000/{video_key}/episode_000081.mp4", "tasks": ["Handing out flyers."], "length": 1786, "action_config": [{"start_frame": 0, "end_frame": 112, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 112, "end_frame": 163, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped the flyers."}, {"start_frame": 163, "end_frame": 250, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has clamped flyers and handed them to customers."}, {"start_frame": 250, "end_frame": 303, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them to customers."}, {"start_frame": 303, "end_frame": 437, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has clamped flyers and handed them over to customers."}, {"start_frame": 437, "end_frame": 491, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to customers multiple times."}, {"start_frame": 491, "end_frame": 587, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully handed out flyers to customers multiple times."}, {"start_frame": 587, "end_frame": 645, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to customers multiple times."}, {"start_frame": 645, "end_frame": 766, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully handed out flyers to multiple customers."}, {"start_frame": 766, "end_frame": 820, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to customers multiple times."}, {"start_frame": 820, "end_frame": 994, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully handed out flyers to multiple customers."}, {"start_frame": 994, "end_frame": 1055, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to customers multiple times."}, {"start_frame": 1055, "end_frame": 1165, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully handed out flyers to multiple customers."}, {"start_frame": 1165, "end_frame": 1219, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to multiple customers."}, {"start_frame": 1219, "end_frame": 1343, "action_text": "clamp the flyer", "skill": "Clamp", "language_memory": "The robot has successfully handed out flyers to multiple customers."}, {"start_frame": 1343, "end_frame": 1399, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has handed out flyers to multiple customers."}, {"start_frame": 1399, "end_frame": 1521, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully handed out flyers to multiple customers."}, {"start_frame": 1521, "end_frame": 1575, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has successfully clamped and handed out flyers to multiple customers."}, {"start_frame": 1575, "end_frame": 1692, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully handed out flyers to multiple customers."}, {"start_frame": 1692, "end_frame": 1747, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has successfully clamped and handed out flyers to multiple customers."}], "detailed_task_instruction": ["Clamp a flyer and hand it to the customer, then repeat this sequence of clamping a flyer and handing it to the customer multiple times until all flyers have been distributed."]}
{"task_id": "task_4053", "episode_index": 82, "video_path": "task_4053/videos/chunk-000/{video_key}/episode_000082.mp4", "tasks": ["Handing out flyers."], "length": 1676, "action_config": [{"start_frame": 0, "end_frame": 148, "action_text": "clamp the flyer", "skill": "Clamp", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 148, "end_frame": 195, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The flyer has been clamped."}, {"start_frame": 195, "end_frame": 319, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has clamped a flyer and handed it to the customer."}, {"start_frame": 319, "end_frame": 368, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them to customers."}, {"start_frame": 368, "end_frame": 456, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has clamped flyers and handed them over to customers."}, {"start_frame": 456, "end_frame": 507, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to customers multiple times."}, {"start_frame": 507, "end_frame": 612, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully handed out multiple flyers to customers."}, {"start_frame": 612, "end_frame": 665, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has successfully handed out multiple flyers to customers."}, {"start_frame": 665, "end_frame": 800, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully handed out multiple flyers to customers."}, {"start_frame": 800, "end_frame": 857, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has successfully handed out multiple flyers to customers."}, {"start_frame": 857, "end_frame": 1003, "action_text": "clamp the flyer", "skill": "Clamp", "language_memory": "The robot has successfully handed out multiple flyers to customers."}, {"start_frame": 1003, "end_frame": 1064, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has successfully handed out multiple flyers to customers."}, {"start_frame": 1064, "end_frame": 1203, "action_text": "clamp the flyer", "skill": "Clamp", "language_memory": "The robot has successfully handed out flyers to multiple customers."}, {"start_frame": 1203, "end_frame": 1256, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has successfully handed out flyers to multiple customers."}, {"start_frame": 1256, "end_frame": 1377, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully handed out flyers to multiple customers."}, {"start_frame": 1377, "end_frame": 1441, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has successfully handed out flyers to multiple customers."}, {"start_frame": 1441, "end_frame": 1619, "action_text": "clamp the flyer", "skill": "Clamp", "language_memory": "The robot has successfully clamped and handed out flyers to multiple customers."}, {"start_frame": 1619, "end_frame": 1675, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has successfully clamped and handed out flyers to multiple customers."}], "detailed_task_instruction": ["Clamp a flyer and hand it to the customer, then repeat this process for multiple flyers, alternating between clamping individual flyers or batches of flyers and handing them over to the customer until all flyers have been distributed."]}
{"task_id": "task_4053", "episode_index": 83, "video_path": "task_4053/videos/chunk-000/{video_key}/episode_000083.mp4", "tasks": ["Handing out flyers."], "length": 1777, "action_config": [{"start_frame": 0, "end_frame": 121, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 121, "end_frame": 180, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped the flyers."}, {"start_frame": 180, "end_frame": 312, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has clamped flyers and handed them to customers."}, {"start_frame": 312, "end_frame": 357, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them to customers."}, {"start_frame": 357, "end_frame": 466, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has clamped flyers and handed them over to customers."}, {"start_frame": 466, "end_frame": 516, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to customers multiple times."}, {"start_frame": 516, "end_frame": 653, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully handed out flyers to customers multiple times."}, {"start_frame": 653, "end_frame": 703, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to customers multiple times."}, {"start_frame": 703, "end_frame": 832, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully handed out flyers to multiple customers."}, {"start_frame": 832, "end_frame": 882, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to customers multiple times."}, {"start_frame": 882, "end_frame": 1011, "action_text": "clamp the flyer", "skill": "Clamp", "language_memory": "The robot has successfully handed out flyers to multiple customers."}, {"start_frame": 1011, "end_frame": 1065, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped and handed out flyers to multiple customers."}, {"start_frame": 1065, "end_frame": 1186, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully clamped and handed out flyers to multiple customers."}, {"start_frame": 1186, "end_frame": 1233, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has successfully clamped and handed out flyers to multiple customers."}, {"start_frame": 1233, "end_frame": 1346, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully handed out flyers to multiple customers."}, {"start_frame": 1346, "end_frame": 1404, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has successfully clamped and handed out flyers to multiple customers."}, {"start_frame": 1404, "end_frame": 1528, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully handed out flyers to multiple customers."}, {"start_frame": 1528, "end_frame": 1577, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has repeatedly clamped flyers and handed them to customers."}, {"start_frame": 1577, "end_frame": 1719, "action_text": "clamp the flyer", "skill": "Clamp", "language_memory": "The robot has successfully handed out flyers to multiple customers."}, {"start_frame": 1719, "end_frame": 1776, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has repeatedly clamped flyers and handed them to customers."}], "detailed_task_instruction": ["Secure a stack of flyers and hand them to the customer, then repeat this process of clamping the flyers and handing them over multiple times to distribute the materials to various customers. Continue this cycle of clamping and handing out until all flyers have been distributed, ensuring each transaction involves securing the flyers before presenting them to the recipient."]}
{"task_id": "task_4053", "episode_index": 84, "video_path": "task_4053/videos/chunk-000/{video_key}/episode_000084.mp4", "tasks": ["Handing out flyers."], "length": 1563, "action_config": [{"start_frame": 0, "end_frame": 130, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 130, "end_frame": 182, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped the flyers."}, {"start_frame": 182, "end_frame": 253, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has clamped flyers and handed them to customers."}, {"start_frame": 253, "end_frame": 299, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them to customers."}, {"start_frame": 299, "end_frame": 446, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has clamped flyers and handed them over to customers."}, {"start_frame": 446, "end_frame": 500, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to customers multiple times."}, {"start_frame": 500, "end_frame": 719, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully handed out flyers to customers multiple times."}, {"start_frame": 719, "end_frame": 768, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to customers multiple times."}, {"start_frame": 768, "end_frame": 939, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully handed out flyers to multiple customers."}, {"start_frame": 939, "end_frame": 992, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to customers multiple times."}, {"start_frame": 992, "end_frame": 1142, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully handed out flyers to multiple customers."}, {"start_frame": 1142, "end_frame": 1200, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to customers multiple times."}, {"start_frame": 1200, "end_frame": 1316, "action_text": "clamp the flyer", "skill": "Clamp", "language_memory": "The robot has successfully handed out flyers to multiple customers."}, {"start_frame": 1316, "end_frame": 1371, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has handed out flyers to multiple customers."}, {"start_frame": 1371, "end_frame": 1488, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully handed out flyers to multiple customers."}, {"start_frame": 1488, "end_frame": 1551, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has successfully clamped flyers and handed them over to multiple customers."}], "detailed_task_instruction": ["Clamp a flyer and hand it to the customer, then repeat this sequence of clamping a flyer and handing it over to the customer six more times to distribute a total of seven flyers."]}
{"task_id": "task_4053", "episode_index": 85, "video_path": "task_4053/videos/chunk-000/{video_key}/episode_000085.mp4", "tasks": ["Handing out flyers."], "length": 1739, "action_config": [{"start_frame": 0, "end_frame": 142, "action_text": "clamp the flyer", "skill": "Clamp", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 142, "end_frame": 190, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The flyer has been clamped."}, {"start_frame": 190, "end_frame": 284, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has clamped a flyer and handed it to the customer."}, {"start_frame": 284, "end_frame": 343, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them to customers."}, {"start_frame": 343, "end_frame": 470, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has clamped flyers and handed them over to customers."}, {"start_frame": 470, "end_frame": 517, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to customers multiple times."}, {"start_frame": 517, "end_frame": 600, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully handed out multiple flyers to customers."}, {"start_frame": 600, "end_frame": 651, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has successfully handed out multiple flyers to customers."}, {"start_frame": 651, "end_frame": 754, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully handed out multiple flyers to customers."}, {"start_frame": 754, "end_frame": 807, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has successfully handed out multiple flyers to customers."}, {"start_frame": 807, "end_frame": 910, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully handed out multiple flyers to customers."}, {"start_frame": 910, "end_frame": 962, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has successfully handed out multiple flyers to customers."}, {"start_frame": 962, "end_frame": 1165, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully handed out multiple flyers to customers."}, {"start_frame": 1165, "end_frame": 1215, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has successfully handed out flyers to multiple customers."}, {"start_frame": 1215, "end_frame": 1337, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully handed out flyers to multiple customers."}, {"start_frame": 1337, "end_frame": 1383, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has successfully handed out flyers to multiple customers."}, {"start_frame": 1383, "end_frame": 1487, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully handed out flyers to multiple customers."}, {"start_frame": 1487, "end_frame": 1539, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has repeatedly clamped flyers and handed them to customers."}, {"start_frame": 1539, "end_frame": 1658, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot repeatedly clamped flyers and handed them to customers."}, {"start_frame": 1658, "end_frame": 1720, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot repeatedly clamped flyers and handed them to customers."}], "detailed_task_instruction": ["Clamp a flyer and hand it over to the customer, then repeat this process by clamping additional flyers and handing each one to the customer until all flyers have been distributed."]}
{"task_id": "task_4053", "episode_index": 86, "video_path": "task_4053/videos/chunk-000/{video_key}/episode_000086.mp4", "tasks": ["Handing out flyers."], "length": 2263, "action_config": [{"start_frame": 0, "end_frame": 232, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 232, "end_frame": 290, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped the flyers."}, {"start_frame": 290, "end_frame": 447, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has clamped flyers and handed them to customers."}, {"start_frame": 447, "end_frame": 509, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them to customers."}, {"start_frame": 509, "end_frame": 609, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has clamped flyers and handed them over to customers."}, {"start_frame": 609, "end_frame": 664, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to customers multiple times."}, {"start_frame": 664, "end_frame": 802, "action_text": "clamp the flyer", "skill": "Clamp", "language_memory": "The robot has successfully handed out flyers to customers multiple times."}, {"start_frame": 802, "end_frame": 859, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to customers multiple times."}, {"start_frame": 859, "end_frame": 987, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully handed out flyers to multiple customers."}, {"start_frame": 987, "end_frame": 1042, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has successfully handed out flyers to multiple customers."}, {"start_frame": 1042, "end_frame": 1173, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully clamped flyers and handed them over to multiple customers."}, {"start_frame": 1173, "end_frame": 1230, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has successfully clamped flyers and handed them over to multiple customers."}, {"start_frame": 1230, "end_frame": 1354, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully handed out flyers to multiple customers."}, {"start_frame": 1354, "end_frame": 1412, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has successfully clamped flyers and handed them over to multiple customers."}, {"start_frame": 1412, "end_frame": 1570, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully handed out flyers to multiple customers."}, {"start_frame": 1570, "end_frame": 1637, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has successfully handed out flyers to multiple customers."}, {"start_frame": 1637, "end_frame": 1805, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully handed out flyers to multiple customers."}, {"start_frame": 1805, "end_frame": 1859, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has repeatedly clamped flyers and handed them over to customers."}, {"start_frame": 1859, "end_frame": 2009, "action_text": "clamp the flyer", "skill": "Clamp", "language_memory": "The robot has successfully handed out flyers to multiple customers."}, {"start_frame": 2009, "end_frame": 2067, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has repeatedly clamped flyers and handed them to customers."}, {"start_frame": 2067, "end_frame": 2199, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully clamped and handed out flyers to multiple customers."}, {"start_frame": 2199, "end_frame": 2262, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has repeatedly clamped flyers and handed them over to customers."}], "detailed_task_instruction": ["Clamp a flyer and hand it to a customer, then repeat this sequence of clamping flyers and handing them to customers multiple times until all flyers have been distributed."]}
{"task_id": "task_4053", "episode_index": 87, "video_path": "task_4053/videos/chunk-000/{video_key}/episode_000087.mp4", "tasks": ["Handing out flyers."], "length": 1613, "action_config": [{"start_frame": 0, "end_frame": 138, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 138, "end_frame": 189, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped the flyers."}, {"start_frame": 189, "end_frame": 329, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has clamped flyers and handed them to customers."}, {"start_frame": 329, "end_frame": 382, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them to customers."}, {"start_frame": 382, "end_frame": 502, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has clamped flyers and handed them over to customers."}, {"start_frame": 502, "end_frame": 549, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to customers multiple times."}, {"start_frame": 549, "end_frame": 683, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully handed out flyers to customers multiple times."}, {"start_frame": 683, "end_frame": 735, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to customers multiple times."}, {"start_frame": 735, "end_frame": 894, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully handed out flyers to multiple customers."}, {"start_frame": 894, "end_frame": 942, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to customers multiple times."}, {"start_frame": 942, "end_frame": 1046, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully handed out flyers to multiple customers."}, {"start_frame": 1046, "end_frame": 1100, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to customers multiple times."}, {"start_frame": 1100, "end_frame": 1226, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully handed out flyers to multiple customers."}, {"start_frame": 1226, "end_frame": 1281, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to multiple customers."}, {"start_frame": 1281, "end_frame": 1382, "action_text": "clamp the flyer", "skill": "Clamp", "language_memory": "The robot has successfully handed out flyers to multiple customers."}, {"start_frame": 1382, "end_frame": 1429, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has handed out flyers to multiple customers."}, {"start_frame": 1429, "end_frame": 1553, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully handed out flyers to multiple customers."}, {"start_frame": 1553, "end_frame": 1612, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has successfully clamped and handed out flyers to multiple customers."}], "detailed_task_instruction": ["Clamp a flyer and hand it to the customer, then repeat this sequence of clamping a flyer and handing it to the customer multiple times until all flyers have been distributed."]}
{"task_id": "task_4053", "episode_index": 88, "video_path": "task_4053/videos/chunk-000/{video_key}/episode_000088.mp4", "tasks": ["Handing out flyers."], "length": 1743, "action_config": [{"start_frame": 0, "end_frame": 148, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 148, "end_frame": 192, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped the flyers."}, {"start_frame": 192, "end_frame": 333, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has clamped flyers and handed them to customers."}, {"start_frame": 333, "end_frame": 385, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them to customers."}, {"start_frame": 385, "end_frame": 688, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has clamped flyers and handed them over to customers."}, {"start_frame": 688, "end_frame": 737, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to customers multiple times."}, {"start_frame": 737, "end_frame": 853, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully handed out flyers to customers multiple times."}, {"start_frame": 853, "end_frame": 909, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to customers multiple times."}, {"start_frame": 909, "end_frame": 1055, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully handed out flyers to multiple customers."}, {"start_frame": 1055, "end_frame": 1115, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to customers multiple times."}, {"start_frame": 1115, "end_frame": 1237, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully handed out flyers to multiple customers."}, {"start_frame": 1237, "end_frame": 1290, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to customers multiple times."}, {"start_frame": 1290, "end_frame": 1392, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully handed out flyers to multiple customers."}, {"start_frame": 1392, "end_frame": 1444, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to multiple customers."}, {"start_frame": 1444, "end_frame": 1548, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully handed out flyers to multiple customers."}, {"start_frame": 1548, "end_frame": 1595, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to multiple customers."}, {"start_frame": 1595, "end_frame": 1694, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully handed out flyers to multiple customers."}, {"start_frame": 1694, "end_frame": 1742, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has repeatedly clamped flyers and handed them to customers."}], "detailed_task_instruction": ["Clamp a flyer and hand it over to the customer, then repeat this sequence of clamping a flyer and handing it to the customer eight more times to distribute a total of nine flyers."]}
{"task_id": "task_4053", "episode_index": 89, "video_path": "task_4053/videos/chunk-000/{video_key}/episode_000089.mp4", "tasks": ["Handing out flyers."], "length": 1784, "action_config": [{"start_frame": 0, "end_frame": 209, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 209, "end_frame": 263, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped the flyers."}, {"start_frame": 263, "end_frame": 371, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has clamped flyers and handed them to customers."}, {"start_frame": 371, "end_frame": 421, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them to customers."}, {"start_frame": 421, "end_frame": 509, "action_text": "clamp the flyer", "skill": "Clamp", "language_memory": "The robot has clamped flyers and handed them over to customers."}, {"start_frame": 509, "end_frame": 559, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to customers multiple times."}, {"start_frame": 559, "end_frame": 699, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has clamped flyers and handed them over to customers multiple times."}, {"start_frame": 699, "end_frame": 752, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to customers multiple times."}, {"start_frame": 752, "end_frame": 882, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully clamped flyers and handed them over to customers multiple times."}, {"start_frame": 882, "end_frame": 933, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has successfully clamped flyers and handed them over to customers multiple times."}, {"start_frame": 933, "end_frame": 1025, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully clamped flyers and handed them over to the customer multiple times."}, {"start_frame": 1025, "end_frame": 1081, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has successfully clamped and handed out flyers to multiple customers."}, {"start_frame": 1081, "end_frame": 1296, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully handed out flyers to multiple customers."}, {"start_frame": 1296, "end_frame": 1353, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has successfully clamped flyers and handed them over to multiple customers."}, {"start_frame": 1353, "end_frame": 1545, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully handed out flyers to multiple customers."}, {"start_frame": 1545, "end_frame": 1597, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has successfully clamped flyers and handed them over to multiple customers."}, {"start_frame": 1597, "end_frame": 1729, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully handed out flyers to multiple customers."}, {"start_frame": 1729, "end_frame": 1783, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has repeatedly clamped flyers and handed them over to customers."}], "detailed_task_instruction": ["Clamp a flyer and hand it to the customer, then repeat this process of clamping flyers and handing them to the customer multiple times until all flyers have been distributed."]}
{"task_id": "task_4053", "episode_index": 90, "video_path": "task_4053/videos/chunk-000/{video_key}/episode_000090.mp4", "tasks": ["Handing out flyers."], "length": 1719, "action_config": [{"start_frame": 0, "end_frame": 138, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 138, "end_frame": 189, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped the flyers."}, {"start_frame": 189, "end_frame": 310, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has clamped flyers and handed them to customers."}, {"start_frame": 310, "end_frame": 358, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them to customers."}, {"start_frame": 358, "end_frame": 474, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has clamped flyers and handed them over to customers."}, {"start_frame": 474, "end_frame": 525, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to customers multiple times."}, {"start_frame": 525, "end_frame": 625, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully handed out flyers to customers multiple times."}, {"start_frame": 625, "end_frame": 680, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to customers multiple times."}, {"start_frame": 680, "end_frame": 835, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully handed out flyers to multiple customers."}, {"start_frame": 835, "end_frame": 896, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to customers multiple times."}, {"start_frame": 896, "end_frame": 1040, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully handed out flyers to multiple customers."}, {"start_frame": 1040, "end_frame": 1100, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to customers multiple times."}, {"start_frame": 1100, "end_frame": 1266, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully handed out flyers to multiple customers."}, {"start_frame": 1266, "end_frame": 1324, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to multiple customers."}, {"start_frame": 1324, "end_frame": 1416, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully handed out flyers to multiple customers."}, {"start_frame": 1416, "end_frame": 1474, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to multiple customers."}, {"start_frame": 1474, "end_frame": 1645, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully handed out flyers to multiple customers."}, {"start_frame": 1645, "end_frame": 1702, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has repeatedly clamped flyers and handed them to customers."}], "detailed_task_instruction": ["Clamp a flyer and hand it over to the customer, then repeat this sequence of clamping a flyer and handing it to the customer eight more times to distribute a total of nine flyers."]}
{"task_id": "task_4053", "episode_index": 91, "video_path": "task_4053/videos/chunk-000/{video_key}/episode_000091.mp4", "tasks": ["Handing out flyers."], "length": 1984, "action_config": [{"start_frame": 0, "end_frame": 136, "action_text": "clamp the flyer", "skill": "Clamp", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 136, "end_frame": 195, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The flyer has been clamped."}, {"start_frame": 195, "end_frame": 380, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has clamped a flyer and handed it to the customer."}, {"start_frame": 380, "end_frame": 438, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them to customers."}, {"start_frame": 438, "end_frame": 580, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has clamped flyers and handed them over to customers."}, {"start_frame": 580, "end_frame": 626, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to customers multiple times."}, {"start_frame": 626, "end_frame": 744, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully handed out multiple flyers to customers."}, {"start_frame": 744, "end_frame": 800, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has successfully handed out multiple flyers to customers."}, {"start_frame": 800, "end_frame": 919, "action_text": "clamp the flyer", "skill": "Clamp", "language_memory": "The robot has successfully handed out multiple flyers to customers."}, {"start_frame": 919, "end_frame": 969, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has successfully handed out multiple flyers to customers."}, {"start_frame": 969, "end_frame": 1153, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully handed out multiple flyers to customers."}, {"start_frame": 1153, "end_frame": 1205, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped and handed out flyers to customers multiple times."}, {"start_frame": 1205, "end_frame": 1349, "action_text": "clamp the flyer", "skill": "Clamp", "language_memory": "The robot has successfully clamped and handed out multiple flyers to customers."}, {"start_frame": 1349, "end_frame": 1401, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has successfully clamped and handed out flyers to multiple customers."}, {"start_frame": 1401, "end_frame": 1526, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully handed out multiple flyers to customers."}, {"start_frame": 1526, "end_frame": 1574, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has successfully handed out multiple flyers to customers."}, {"start_frame": 1574, "end_frame": 1737, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully handed out multiple flyers to customers."}, {"start_frame": 1737, "end_frame": 1779, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has successfully clamped and handed out flyers to multiple customers."}], "detailed_task_instruction": ["Clamp a flyer and hand it to the customer, then repeat this process for multiple flyers, alternating between clamping individual flyers or batches of flyers and handing them over to the customer until all flyers have been distributed."]}
{"task_id": "task_4053", "episode_index": 92, "video_path": "task_4053/videos/chunk-000/{video_key}/episode_000092.mp4", "tasks": ["Handing out flyers."], "length": 1873, "action_config": [{"start_frame": 0, "end_frame": 147, "action_text": "clamp the flyer", "skill": "Clamp", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 147, "end_frame": 196, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The flyer has been clamped."}, {"start_frame": 196, "end_frame": 324, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has clamped a flyer and handed it to the customer."}, {"start_frame": 324, "end_frame": 375, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them to customers."}, {"start_frame": 375, "end_frame": 508, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has clamped flyers and handed them over to customers."}, {"start_frame": 508, "end_frame": 555, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to customers multiple times."}, {"start_frame": 555, "end_frame": 721, "action_text": "clamp the flyer", "skill": "Clamp", "language_memory": "The robot has successfully handed out multiple flyers to customers."}, {"start_frame": 721, "end_frame": 767, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has successfully handed out multiple flyers to customers."}, {"start_frame": 767, "end_frame": 920, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully handed out flyers to multiple customers."}, {"start_frame": 920, "end_frame": 976, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has successfully handed out flyers to multiple customers."}, {"start_frame": 976, "end_frame": 1106, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully handed out flyers to multiple customers."}, {"start_frame": 1106, "end_frame": 1160, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has successfully handed out flyers to multiple customers."}, {"start_frame": 1160, "end_frame": 1330, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully handed out flyers to multiple customers."}, {"start_frame": 1330, "end_frame": 1381, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has successfully handed out flyers to multiple customers."}, {"start_frame": 1381, "end_frame": 1501, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully handed out flyers to multiple customers."}, {"start_frame": 1501, "end_frame": 1553, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has successfully handed out flyers to multiple customers."}, {"start_frame": 1553, "end_frame": 1805, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully handed out flyers to multiple customers."}, {"start_frame": 1805, "end_frame": 1872, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has successfully handed out flyers to multiple customers."}], "detailed_task_instruction": ["Clamp a flyer and hand it to the customer, then repeat this process for multiple flyers, clamping each one before handing it over to the customer in a continuous sequence until all flyers have been distributed."]}
{"task_id": "task_4053", "episode_index": 93, "video_path": "task_4053/videos/chunk-000/{video_key}/episode_000093.mp4", "tasks": ["Handing out flyers."], "length": 1853, "action_config": [{"start_frame": 0, "end_frame": 135, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 135, "end_frame": 188, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped the flyers."}, {"start_frame": 188, "end_frame": 285, "action_text": "clamp the flyer", "skill": "Clamp", "language_memory": "The robot has clamped flyers and handed them to customers."}, {"start_frame": 285, "end_frame": 334, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them to customers."}, {"start_frame": 334, "end_frame": 585, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has clamped flyers and handed them over to customers."}, {"start_frame": 585, "end_frame": 634, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to the customer multiple times."}, {"start_frame": 634, "end_frame": 726, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully clamped flyers and handed them over to customers multiple times."}, {"start_frame": 726, "end_frame": 772, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has successfully clamped flyers and handed them over to customers multiple times."}, {"start_frame": 772, "end_frame": 894, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully clamped flyers and handed them over to customers multiple times."}, {"start_frame": 894, "end_frame": 939, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to customers multiple times."}, {"start_frame": 939, "end_frame": 1072, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully clamped and handed out flyers to customers multiple times."}, {"start_frame": 1072, "end_frame": 1119, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to the customer multiple times."}, {"start_frame": 1119, "end_frame": 1236, "action_text": "clamp the flyer", "skill": "Clamp", "language_memory": "The robot has successfully clamped and handed out flyers to multiple customers."}, {"start_frame": 1236, "end_frame": 1284, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has successfully clamped and handed out flyers to multiple customers."}, {"start_frame": 1284, "end_frame": 1414, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully clamped and handed out flyers to multiple customers."}, {"start_frame": 1414, "end_frame": 1461, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has repeatedly clamped flyers and handed them over to customers."}, {"start_frame": 1461, "end_frame": 1772, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully clamped and handed out flyers to multiple customers."}, {"start_frame": 1772, "end_frame": 1832, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has repeatedly clamped flyers and handed them over to customers."}], "detailed_task_instruction": ["Clamp a flyer and hand it to the customer, then repeat this process for multiple flyers, ensuring each one is clamped before being handed over, and continue this sequence until all flyers have been distributed to the customers."]}
{"task_id": "task_4053", "episode_index": 94, "video_path": "task_4053/videos/chunk-000/{video_key}/episode_000094.mp4", "tasks": ["Handing out flyers."], "length": 1907, "action_config": [{"start_frame": 0, "end_frame": 156, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 156, "end_frame": 207, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped the flyers."}, {"start_frame": 207, "end_frame": 304, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has clamped flyers and handed them to customers."}, {"start_frame": 304, "end_frame": 351, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them to customers."}, {"start_frame": 351, "end_frame": 492, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has clamped flyers and handed them over to customers."}, {"start_frame": 492, "end_frame": 530, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to customers multiple times."}, {"start_frame": 530, "end_frame": 686, "action_text": "clamp the flyer", "skill": "Clamp", "language_memory": "The robot has successfully handed out flyers to customers multiple times."}, {"start_frame": 686, "end_frame": 741, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to customers multiple times."}, {"start_frame": 741, "end_frame": 869, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully handed out flyers to multiple customers."}, {"start_frame": 869, "end_frame": 929, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has successfully handed out flyers to multiple customers."}, {"start_frame": 929, "end_frame": 1063, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully clamped flyers and handed them over to multiple customers."}, {"start_frame": 1063, "end_frame": 1120, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has successfully clamped flyers and handed them over to multiple customers."}, {"start_frame": 1120, "end_frame": 1386, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully handed out flyers to multiple customers."}, {"start_frame": 1386, "end_frame": 1444, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has successfully clamped flyers and handed them over to multiple customers."}, {"start_frame": 1444, "end_frame": 1568, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully handed out flyers to multiple customers."}, {"start_frame": 1568, "end_frame": 1628, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has successfully handed out flyers to multiple customers."}, {"start_frame": 1628, "end_frame": 1866, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully handed out flyers to multiple customers."}, {"start_frame": 1866, "end_frame": 1906, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has repeatedly clamped flyers and handed them over to customers."}], "detailed_task_instruction": ["Clamp a flyer and hand it to the customer, then repeat this process for multiple flyers, ensuring each one is clamped before being handed over to the customer in a continuous sequence."]}
{"task_id": "task_4053", "episode_index": 95, "video_path": "task_4053/videos/chunk-000/{video_key}/episode_000095.mp4", "tasks": ["Handing out flyers."], "length": 1678, "action_config": [{"start_frame": 0, "end_frame": 286, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 286, "end_frame": 340, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped the flyers."}, {"start_frame": 340, "end_frame": 472, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has clamped flyers and handed them to customers."}, {"start_frame": 472, "end_frame": 524, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them to customers."}, {"start_frame": 524, "end_frame": 709, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has clamped flyers and handed them over to customers."}, {"start_frame": 709, "end_frame": 755, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to customers multiple times."}, {"start_frame": 755, "end_frame": 879, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully handed out flyers to customers multiple times."}, {"start_frame": 879, "end_frame": 926, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to customers multiple times."}, {"start_frame": 926, "end_frame": 1058, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully handed out flyers to multiple customers."}, {"start_frame": 1058, "end_frame": 1109, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to customers multiple times."}, {"start_frame": 1109, "end_frame": 1241, "action_text": "clamp the flyer", "skill": "Clamp", "language_memory": "The robot has successfully handed out flyers to multiple customers."}, {"start_frame": 1241, "end_frame": 1293, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped and handed out flyers to multiple customers."}, {"start_frame": 1293, "end_frame": 1470, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully clamped and handed out flyers to multiple customers."}, {"start_frame": 1470, "end_frame": 1516, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has successfully clamped and handed out flyers to multiple customers."}, {"start_frame": 1516, "end_frame": 1629, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully handed out flyers to multiple customers."}, {"start_frame": 1629, "end_frame": 1677, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has successfully clamped and handed out flyers to multiple customers."}], "detailed_task_instruction": ["Clamp a flyer and hand it to the customer, then repeat this sequence of clamping flyers and handing them to the customer multiple times until all flyers have been distributed."]}
{"task_id": "task_4053", "episode_index": 96, "video_path": "task_4053/videos/chunk-000/{video_key}/episode_000096.mp4", "tasks": ["Handing out flyers."], "length": 1641, "action_config": [{"start_frame": 0, "end_frame": 172, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 172, "end_frame": 226, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped the flyers."}, {"start_frame": 226, "end_frame": 357, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has clamped flyers and handed them to customers."}, {"start_frame": 357, "end_frame": 405, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them to customers."}, {"start_frame": 405, "end_frame": 529, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has clamped flyers and handed them over to customers."}, {"start_frame": 529, "end_frame": 577, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to customers multiple times."}, {"start_frame": 577, "end_frame": 683, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully handed out flyers to customers multiple times."}, {"start_frame": 683, "end_frame": 733, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to customers multiple times."}, {"start_frame": 733, "end_frame": 818, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully handed out flyers to multiple customers."}, {"start_frame": 818, "end_frame": 867, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to customers multiple times."}, {"start_frame": 867, "end_frame": 1077, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully handed out flyers to multiple customers."}, {"start_frame": 1077, "end_frame": 1118, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to customers multiple times."}, {"start_frame": 1118, "end_frame": 1242, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully handed out flyers to multiple customers."}, {"start_frame": 1242, "end_frame": 1291, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to multiple customers."}, {"start_frame": 1291, "end_frame": 1400, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully handed out flyers to multiple customers."}, {"start_frame": 1400, "end_frame": 1446, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to multiple customers."}, {"start_frame": 1446, "end_frame": 1584, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully handed out flyers to multiple customers."}, {"start_frame": 1584, "end_frame": 1640, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has repeatedly clamped flyers and handed them to customers."}], "detailed_task_instruction": ["Clamp a flyer and hand it over to the customer, then repeat this sequence of clamping a flyer and handing it to the customer eight more times to distribute a total of nine flyers."]}
{"task_id": "task_4053", "episode_index": 97, "video_path": "task_4053/videos/chunk-000/{video_key}/episode_000097.mp4", "tasks": ["Handing out flyers."], "length": 1727, "action_config": [{"start_frame": 0, "end_frame": 151, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 151, "end_frame": 198, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped the flyers."}, {"start_frame": 198, "end_frame": 321, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has clamped flyers and handed them to customers."}, {"start_frame": 321, "end_frame": 367, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them to customers."}, {"start_frame": 367, "end_frame": 487, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has clamped flyers and handed them over to customers."}, {"start_frame": 487, "end_frame": 530, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to customers multiple times."}, {"start_frame": 530, "end_frame": 662, "action_text": "clamp the flyer", "skill": "Clamp", "language_memory": "The robot has successfully handed out flyers to customers multiple times."}, {"start_frame": 662, "end_frame": 710, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to customers multiple times."}, {"start_frame": 710, "end_frame": 822, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully handed out flyers to multiple customers."}, {"start_frame": 822, "end_frame": 873, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has successfully handed out flyers to multiple customers."}, {"start_frame": 873, "end_frame": 983, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully clamped flyers and handed them over to multiple customers."}, {"start_frame": 983, "end_frame": 1033, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has successfully clamped flyers and handed them over to multiple customers."}, {"start_frame": 1033, "end_frame": 1221, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully handed out flyers to multiple customers."}, {"start_frame": 1221, "end_frame": 1275, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has successfully clamped flyers and handed them over to multiple customers."}, {"start_frame": 1275, "end_frame": 1390, "action_text": "clamp the flyer", "skill": "Clamp", "language_memory": "The robot has successfully handed out flyers to multiple customers."}, {"start_frame": 1390, "end_frame": 1445, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has repeatedly clamped flyers and handed them to customers."}, {"start_frame": 1445, "end_frame": 1586, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully handed out flyers to multiple customers."}, {"start_frame": 1586, "end_frame": 1666, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has repeatedly clamped flyers and handed them over to customers."}], "detailed_task_instruction": ["Clamp a flyer and hand it to the customer, then repeat this process for multiple flyers, alternating between clamping the flyers and handing them over to the customer until all flyers have been distributed."]}
{"task_id": "task_4053", "episode_index": 98, "video_path": "task_4053/videos/chunk-000/{video_key}/episode_000098.mp4", "tasks": ["Handing out flyers."], "length": 1587, "action_config": [{"start_frame": 0, "end_frame": 198, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 198, "end_frame": 247, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped the flyers."}, {"start_frame": 247, "end_frame": 335, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has clamped flyers and handed them to customers."}, {"start_frame": 335, "end_frame": 379, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them to customers."}, {"start_frame": 379, "end_frame": 472, "action_text": "clamp the flyer", "skill": "Clamp", "language_memory": "The robot has clamped flyers and handed them over to customers."}, {"start_frame": 472, "end_frame": 524, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to customers multiple times."}, {"start_frame": 524, "end_frame": 646, "action_text": "clamp the flyer", "skill": "Clamp", "language_memory": "The robot has clamped flyers and handed them over to customers multiple times."}, {"start_frame": 646, "end_frame": 690, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to customers multiple times."}, {"start_frame": 690, "end_frame": 824, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully handed out flyers to multiple customers."}, {"start_frame": 824, "end_frame": 871, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to customers multiple times."}, {"start_frame": 871, "end_frame": 950, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully clamped and handed out flyers to multiple customers."}, {"start_frame": 950, "end_frame": 1012, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has clamped flyers and handed them over to customers multiple times."}, {"start_frame": 1012, "end_frame": 1333, "action_text": "clamp the flyer", "skill": "Clamp", "language_memory": "The robot has successfully handed out multiple flyers to customers."}, {"start_frame": 1333, "end_frame": 1387, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has successfully clamped and handed out flyers to multiple customers."}, {"start_frame": 1387, "end_frame": 1532, "action_text": "clamp the flyers", "skill": "Clamp", "language_memory": "The robot has successfully handed out flyers to multiple customers."}, {"start_frame": 1532, "end_frame": 1586, "action_text": "hand over the flyer to the customer", "skill": "Handover", "language_memory": "The robot has successfully clamped and handed out flyers to multiple customers."}], "detailed_task_instruction": ["Clamp a flyer and hand it to a customer, then repeat this process for multiple flyers, alternating between clamping individual flyers or stacks of flyers and handing them over to the customer until all flyers have been distributed."]}
{"task_id": "scoop_popcorn_to_bucket", "episode_index": 0, "video_path": "scoop_popcorn_to_bucket/videos/chunk-000/{video_key}/episode_000000.mp4", "tasks": ["Scoop popcorn to bucket."], "length": 648, "action_config": [{"start_frame": 12, "end_frame": 219, "action_text": "pour the popcorn into the popcorn bucket", "skill": "Pour", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 219, "end_frame": 408, "action_text": "pour the popcorn into the popcorn bucket", "skill": "Pour", "language_memory": "Popcorn has been poured into the bucket."}, {"start_frame": 408, "end_frame": 633, "action_text": "pour the popcorn into the popcorn bucket", "skill": "Pour", "language_memory": "Popcorn has been poured into the bucket."}], "detailed_task_instruction": ["Scoop popcorn from the source and pour it into the popcorn bucket, repeating this action multiple times until the bucket is filled."]}
{"task_id": "scoop_popcorn_to_bucket", "episode_index": 1, "video_path": "scoop_popcorn_to_bucket/videos/chunk-000/{video_key}/episode_000001.mp4", "tasks": ["Scoop popcorn to bucket."], "length": 691, "action_config": [{"start_frame": 17, "end_frame": 225, "action_text": "pour the popcorn into the popcorn bucket", "skill": "Pour", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 225, "end_frame": 420, "action_text": "pour the popcorn into the popcorn bucket", "skill": "Pour", "language_memory": "Popcorn has been poured into the bucket."}, {"start_frame": 420, "end_frame": 662, "action_text": "pour the popcorn into the popcorn bucket", "skill": "Pour", "language_memory": "Popcorn has been poured into the bucket."}], "detailed_task_instruction": ["Scoop popcorn from the source and pour it into the popcorn bucket, repeating this action multiple times until the bucket is filled."]}
{"task_id": "scoop_popcorn_to_bucket", "episode_index": 2, "video_path": "scoop_popcorn_to_bucket/videos/chunk-000/{video_key}/episode_000002.mp4", "tasks": ["Scoop popcorn to bucket."], "length": 544, "action_config": [{"start_frame": 18, "end_frame": 219, "action_text": "pour the popcorn into the popcorn bucket", "skill": "Pour", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 219, "end_frame": 364, "action_text": "pour the popcorn into the popcorn bucket", "skill": "Pour", "language_memory": "Popcorn has been poured into the bucket."}, {"start_frame": 364, "end_frame": 536, "action_text": "pour the popcorn into the popcorn bucket", "skill": "Pour", "language_memory": "Popcorn has been poured into the bucket."}], "detailed_task_instruction": ["Scoop popcorn from the source and pour it into the popcorn bucket, repeating this action multiple times until the bucket is filled."]}
{"task_id": "scoop_popcorn_to_bucket", "episode_index": 3, "video_path": "scoop_popcorn_to_bucket/videos/chunk-000/{video_key}/episode_000003.mp4", "tasks": ["Scoop popcorn to bucket."], "length": 551, "action_config": [{"start_frame": 10, "end_frame": 209, "action_text": "pour the popcorn into the popcorn bucket", "skill": "Pour", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 209, "end_frame": 383, "action_text": "pour the popcorn into the popcorn bucket", "skill": "Pour", "language_memory": "Popcorn has been poured into the bucket."}, {"start_frame": 383, "end_frame": 545, "action_text": "pour the popcorn into the popcorn bucket", "skill": "Pour", "language_memory": "Popcorn has been poured into the bucket."}], "detailed_task_instruction": ["Scoop popcorn from the source and pour it into the popcorn bucket, repeating this action multiple times until the bucket is filled."]}
{"task_id": "scoop_popcorn_to_bucket", "episode_index": 4, "video_path": "scoop_popcorn_to_bucket/videos/chunk-000/{video_key}/episode_000004.mp4", "tasks": ["Scoop popcorn to bucket."], "length": 632, "action_config": [{"start_frame": 6, "end_frame": 300, "action_text": "pour the popcorn into the popcorn bucket", "skill": "Pour", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 300, "end_frame": 459, "action_text": "pour the popcorn into the popcorn bucket", "skill": "Pour", "language_memory": "Popcorn has been poured into the bucket."}, {"start_frame": 459, "end_frame": 617, "action_text": "pour the popcorn into the popcorn bucket", "skill": "Pour", "language_memory": "Popcorn has been poured into the bucket."}], "detailed_task_instruction": ["Scoop popcorn from the source and pour it into the popcorn bucket, repeating this action multiple times until the bucket is filled."]}
{"task_id": "scoop_popcorn_to_bucket", "episode_index": 5, "video_path": "scoop_popcorn_to_bucket/videos/chunk-000/{video_key}/episode_000005.mp4", "tasks": ["Scoop popcorn to bucket."], "length": 723, "action_config": [{"start_frame": 14, "end_frame": 306, "action_text": "pour the popcorn into the popcorn bucket", "skill": "Pour", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 306, "end_frame": 492, "action_text": "pour the popcorn into the popcorn bucket", "skill": "Pour", "language_memory": "Popcorn has been poured into the bucket."}, {"start_frame": 492, "end_frame": 714, "action_text": "pour the popcorn into the popcorn bucket", "skill": "Pour", "language_memory": "Popcorn has been poured into the bucket."}], "detailed_task_instruction": ["Scoop popcorn from the source and pour it into the popcorn bucket, repeating this action multiple times until the bucket is filled."]}
{"task_id": "scoop_popcorn_to_bucket", "episode_index": 6, "video_path": "scoop_popcorn_to_bucket/videos/chunk-000/{video_key}/episode_000006.mp4", "tasks": ["Scoop popcorn to bucket."], "length": 765, "action_config": [{"start_frame": 28, "end_frame": 264, "action_text": "pour the popcorn into the popcorn bucket", "skill": "Pour", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 264, "end_frame": 455, "action_text": "pour the popcorn into the popcorn bucket", "skill": "Pour", "language_memory": "Popcorn has been poured into the bucket."}, {"start_frame": 455, "end_frame": 737, "action_text": "pour the popcorn into the popcorn bucket", "skill": "Pour", "language_memory": "Popcorn has been poured into the bucket."}], "detailed_task_instruction": ["Scoop popcorn from the source and pour it into the popcorn bucket, repeating this action multiple times until the bucket is filled."]}
{"task_id": "scoop_popcorn_to_bucket", "episode_index": 7, "video_path": "scoop_popcorn_to_bucket/videos/chunk-000/{video_key}/episode_000007.mp4", "tasks": ["Scoop popcorn to bucket."], "length": 699, "action_config": [{"start_frame": 0, "end_frame": 216, "action_text": "pour the popcorn into the popcorn bucket", "skill": "Pour", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 216, "end_frame": 402, "action_text": "pour the popcorn into the popcorn bucket", "skill": "Pour", "language_memory": "Popcorn has been poured into the bucket."}, {"start_frame": 402, "end_frame": 666, "action_text": "pour the popcorn into the popcorn bucket", "skill": "Pour", "language_memory": "Popcorn has been poured into the bucket."}], "detailed_task_instruction": ["Scoop popcorn from the source and pour it into the popcorn bucket, repeating this action multiple times until the bucket is filled."]}
{"task_id": "scoop_popcorn_to_bucket", "episode_index": 8, "video_path": "scoop_popcorn_to_bucket/videos/chunk-000/{video_key}/episode_000008.mp4", "tasks": ["Scoop popcorn to bucket."], "length": 615, "action_config": [{"start_frame": 13, "end_frame": 213, "action_text": "pour the popcorn into the popcorn bucket", "skill": "Pour", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 213, "end_frame": 383, "action_text": "pour the popcorn into the popcorn bucket", "skill": "Pour", "language_memory": "Popcorn has been poured into the bucket."}, {"start_frame": 383, "end_frame": 603, "action_text": "pour the popcorn into the popcorn bucket", "skill": "Pour", "language_memory": "Popcorn has been poured into the bucket."}], "detailed_task_instruction": ["Scoop popcorn from the source and pour it into the popcorn bucket, repeating this action multiple times until the bucket is filled."]}
{"task_id": "scoop_popcorn_to_bucket", "episode_index": 9, "video_path": "scoop_popcorn_to_bucket/videos/chunk-000/{video_key}/episode_000009.mp4", "tasks": ["Scoop popcorn to bucket."], "length": 712, "action_config": [{"start_frame": 19, "end_frame": 246, "action_text": "pour the popcorn into the popcorn bucket", "skill": "Pour", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 246, "end_frame": 471, "action_text": "pour the popcorn into the popcorn bucket", "skill": "Pour", "language_memory": "Popcorn has been poured into the bucket."}, {"start_frame": 471, "end_frame": 695, "action_text": "pour the popcorn into the popcorn bucket", "skill": "Pour", "language_memory": "Popcorn has been poured into the bucket."}], "detailed_task_instruction": ["Scoop popcorn from the source and pour it into the popcorn bucket, repeating this action multiple times until the bucket is filled."]}
{"task_id": "scoop_popcorn_to_bucket", "episode_index": 10, "video_path": "scoop_popcorn_to_bucket/videos/chunk-000/{video_key}/episode_000010.mp4", "tasks": ["Scoop popcorn to bucket."], "length": 791, "action_config": [{"start_frame": 18, "end_frame": 237, "action_text": "pour the popcorn into the popcorn bucket", "skill": "Pour", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 237, "end_frame": 438, "action_text": "pour the popcorn into the popcorn bucket", "skill": "Pour", "language_memory": "Popcorn has been poured into the bucket."}, {"start_frame": 438, "end_frame": 770, "action_text": "pour the popcorn into the popcorn bucket", "skill": "Pour", "language_memory": "Popcorn has been poured into the bucket."}], "detailed_task_instruction": ["Scoop popcorn from the source and pour it into the popcorn bucket, repeating this action multiple times until the bucket is filled."]}
{"task_id": "scoop_popcorn_to_bucket", "episode_index": 11, "video_path": "scoop_popcorn_to_bucket/videos/chunk-000/{video_key}/episode_000011.mp4", "tasks": ["Scoop popcorn to bucket."], "length": 670, "action_config": [{"start_frame": 15, "end_frame": 258, "action_text": "pour the popcorn into the popcorn bucket", "skill": "Pour", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 258, "end_frame": 432, "action_text": "pour the popcorn into the popcorn bucket", "skill": "Pour", "language_memory": "Popcorn has been poured into the bucket."}, {"start_frame": 432, "end_frame": 657, "action_text": "pour the popcorn into the popcorn bucket", "skill": "Pour", "language_memory": "Popcorn has been poured into the bucket."}], "detailed_task_instruction": ["Scoop popcorn from the source and pour it into the popcorn bucket, repeating this action multiple times until the bucket is filled."]}
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{"task_id": "scoop_popcorn_to_bucket", "episode_index": 67, "video_path": "scoop_popcorn_to_bucket/videos/chunk-000/{video_key}/episode_000067.mp4", "tasks": ["Scoop popcorn to bucket."], "length": 764, "action_config": [{"start_frame": 0, "end_frame": 264, "action_text": "pour the popcorn into the popcorn bucket", "skill": "Pour", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 264, "end_frame": 471, "action_text": "pour the popcorn into the popcorn bucket", "skill": "Pour", "language_memory": "Popcorn has been poured into the bucket."}, {"start_frame": 471, "end_frame": 720, "action_text": "pour the popcorn into the popcorn bucket", "skill": "Pour", "language_memory": "Popcorn has been poured into the bucket."}], "detailed_task_instruction": ["Scoop popcorn from the source and pour it into the popcorn bucket, repeating this action multiple times until the bucket is filled."]}
{"task_id": "scoop_popcorn_to_bucket", "episode_index": 68, "video_path": "scoop_popcorn_to_bucket/videos/chunk-000/{video_key}/episode_000068.mp4", "tasks": ["Scoop popcorn to bucket."], "length": 611, "action_config": [{"start_frame": 0, "end_frame": 242, "action_text": "pour the popcorn into the popcorn bucket", "skill": "Pour", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 242, "end_frame": 387, "action_text": "pour the popcorn into the popcorn bucket", "skill": "Pour", "language_memory": "Popcorn has been poured into the bucket."}, {"start_frame": 387, "end_frame": 600, "action_text": "pour the popcorn into the popcorn bucket", "skill": "Pour", "language_memory": "Popcorn has been poured into the bucket."}], "detailed_task_instruction": ["Scoop popcorn from the source and pour it into the popcorn bucket, repeating this action multiple times until the bucket is filled."]}
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{"task_id": "scoop_popcorn_to_bucket", "episode_index": 70, "video_path": "scoop_popcorn_to_bucket/videos/chunk-000/{video_key}/episode_000070.mp4", "tasks": ["Scoop popcorn to bucket."], "length": 676, "action_config": [{"start_frame": 0, "end_frame": 327, "action_text": "pour the popcorn into the popcorn bucket", "skill": "Pour", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 327, "end_frame": 492, "action_text": "pour the popcorn into the popcorn bucket", "skill": "Pour", "language_memory": "Popcorn has been poured into the bucket."}, {"start_frame": 492, "end_frame": 662, "action_text": "pour the popcorn into the popcorn bucket", "skill": "Pour", "language_memory": "Popcorn has been poured into the bucket."}], "detailed_task_instruction": ["Scoop popcorn from the source and pour it into the popcorn bucket, repeating this action multiple times until the bucket is filled."]}
{"task_id": "scoop_popcorn_to_bucket", "episode_index": 71, "video_path": "scoop_popcorn_to_bucket/videos/chunk-000/{video_key}/episode_000071.mp4", "tasks": ["Scoop popcorn to bucket."], "length": 616, "action_config": [{"start_frame": 0, "end_frame": 204, "action_text": "pour the popcorn into the popcorn bucket", "skill": "Pour", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 204, "end_frame": 423, "action_text": "pour the popcorn into the popcorn bucket", "skill": "Pour", "language_memory": "Popcorn has been poured into the bucket."}, {"start_frame": 423, "end_frame": 611, "action_text": "pour the popcorn into the popcorn bucket", "skill": "Pour", "language_memory": "Popcorn has been poured into the bucket."}], "detailed_task_instruction": ["Scoop popcorn from the source and pour it into the popcorn bucket, repeating this action multiple times until the bucket is filled."]}
{"task_id": "scoop_popcorn_to_bucket", "episode_index": 72, "video_path": "scoop_popcorn_to_bucket/videos/chunk-000/{video_key}/episode_000072.mp4", "tasks": ["Scoop popcorn to bucket."], "length": 612, "action_config": [{"start_frame": 0, "end_frame": 221, "action_text": "pour the popcorn into the popcorn bucket", "skill": "Pour", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 221, "end_frame": 389, "action_text": "pour the popcorn into the popcorn bucket", "skill": "Pour", "language_memory": "Popcorn has been poured into the bucket."}, {"start_frame": 389, "end_frame": 596, "action_text": "pour the popcorn into the popcorn bucket", "skill": "Pour", "language_memory": "Popcorn has been poured into the bucket."}], "detailed_task_instruction": ["Scoop popcorn from the source and pour it into the popcorn bucket, repeating this action multiple times until the bucket is filled."]}
{"task_id": "scoop_popcorn_to_bucket", "episode_index": 73, "video_path": "scoop_popcorn_to_bucket/videos/chunk-000/{video_key}/episode_000073.mp4", "tasks": ["Scoop popcorn to bucket."], "length": 798, "action_config": [{"start_frame": 0, "end_frame": 242, "action_text": "pour the popcorn into the popcorn bucket", "skill": "Pour", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 242, "end_frame": 450, "action_text": "pour the popcorn into the popcorn bucket", "skill": "Pour", "language_memory": "Popcorn has been poured into the bucket."}, {"start_frame": 450, "end_frame": 774, "action_text": "pour the popcorn into the popcorn bucket", "skill": "Pour", "language_memory": "Popcorn has been poured into the bucket."}], "detailed_task_instruction": ["Scoop popcorn from the source and pour it into the popcorn bucket, repeating this action multiple times until the bucket is filled."]}
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{"task_id": "scoop_popcorn_to_bucket", "episode_index": 185, "video_path": "scoop_popcorn_to_bucket/videos/chunk-000/{video_key}/episode_000185.mp4", "tasks": ["Scoop popcorn to bucket."], "length": 615, "action_config": [{"start_frame": 18, "end_frame": 234, "action_text": "pour the popcorn into the popcorn bucket", "skill": "Pour", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 234, "end_frame": 438, "action_text": "pour the popcorn into the popcorn bucket", "skill": "Pour", "language_memory": "Popcorn has been poured into the bucket."}, {"start_frame": 438, "end_frame": 615, "action_text": "pour the popcorn into the popcorn bucket", "skill": "Pour", "language_memory": "Popcorn has been poured into the bucket."}], "detailed_task_instruction": ["Scoop popcorn from the source and pour it into the popcorn bucket, repeating this action multiple times until the bucket is filled."]}
{"task_id": "scoop_popcorn_to_bucket", "episode_index": 186, "video_path": "scoop_popcorn_to_bucket/videos/chunk-000/{video_key}/episode_000186.mp4", "tasks": ["Scoop popcorn to bucket."], "length": 757, "action_config": [{"start_frame": 24, "end_frame": 248, "action_text": "pour the popcorn into the popcorn bucket", "skill": "Pour", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 248, "end_frame": 480, "action_text": "pour the popcorn into the popcorn bucket", "skill": "Pour", "language_memory": "Popcorn has been poured into the bucket."}, {"start_frame": 480, "end_frame": 738, "action_text": "pour the popcorn into the popcorn bucket", "skill": "Pour", "language_memory": "Popcorn has been poured into the bucket."}], "detailed_task_instruction": ["Scoop popcorn from the source and pour it into the popcorn bucket, repeating this action multiple times until the bucket is filled."]}
{"task_id": "scoop_popcorn_to_bucket", "episode_index": 187, "video_path": "scoop_popcorn_to_bucket/videos/chunk-000/{video_key}/episode_000187.mp4", "tasks": ["Scoop popcorn to bucket."], "length": 613, "action_config": [{"start_frame": 19, "end_frame": 267, "action_text": "pour the popcorn into the popcorn bucket", "skill": "Pour", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 267, "end_frame": 429, "action_text": "pour the popcorn into the popcorn bucket", "skill": "Pour", "language_memory": "Popcorn has been poured into the bucket."}, {"start_frame": 429, "end_frame": 609, "action_text": "pour the popcorn into the popcorn bucket", "skill": "Pour", "language_memory": "Popcorn has been poured into the bucket."}], "detailed_task_instruction": ["Scoop popcorn from the source and pour it into the popcorn bucket, repeating this action multiple times until the bucket is filled."]}
{"task_id": "scoop_popcorn_to_bucket", "episode_index": 188, "video_path": "scoop_popcorn_to_bucket/videos/chunk-000/{video_key}/episode_000188.mp4", "tasks": ["Scoop popcorn to bucket."], "length": 836, "action_config": [{"start_frame": 0, "end_frame": 263, "action_text": "pour the popcorn into the popcorn bucket", "skill": "Pour", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 263, "end_frame": 498, "action_text": "pour the popcorn into the popcorn bucket", "skill": "Pour", "language_memory": "Popcorn has been poured into the bucket."}, {"start_frame": 498, "end_frame": 803, "action_text": "pour the popcorn into the popcorn bucket", "skill": "Pour", "language_memory": "Popcorn has been poured into the bucket."}], "detailed_task_instruction": ["Scoop popcorn from the source and pour it into the popcorn bucket, repeating this action multiple times until the bucket is filled."]}
{"task_id": "scoop_popcorn_to_bucket", "episode_index": 189, "video_path": "scoop_popcorn_to_bucket/videos/chunk-000/{video_key}/episode_000189.mp4", "tasks": ["Scoop popcorn to bucket."], "length": 793, "action_config": [{"start_frame": 26, "end_frame": 259, "action_text": "pour the popcorn into the popcorn bucket", "skill": "Pour", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 259, "end_frame": 468, "action_text": "pour the popcorn into the popcorn bucket", "skill": "Pour", "language_memory": "Popcorn has been poured into the bucket."}, {"start_frame": 468, "end_frame": 774, "action_text": "pour the popcorn into the popcorn bucket", "skill": "Pour", "language_memory": "Popcorn has been poured into the bucket."}], "detailed_task_instruction": ["Scoop popcorn from the source and pour it into the popcorn bucket, repeating this action multiple times until the bucket is filled."]}
{"task_id": "scoop_popcorn_to_bucket", "episode_index": 190, "video_path": "scoop_popcorn_to_bucket/videos/chunk-000/{video_key}/episode_000190.mp4", "tasks": ["Scoop popcorn to bucket."], "length": 535, "action_config": [{"start_frame": 19, "end_frame": 192, "action_text": "pour the popcorn into the popcorn bucket", "skill": "Pour", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 192, "end_frame": 327, "action_text": "pour the popcorn into the popcorn bucket", "skill": "Pour", "language_memory": "Popcorn has been poured into the bucket."}, {"start_frame": 327, "end_frame": 520, "action_text": "pour the popcorn into the popcorn bucket", "skill": "Pour", "language_memory": "Popcorn has been poured into the bucket."}], "detailed_task_instruction": ["Scoop popcorn from the source and pour it into the popcorn bucket, repeating this action multiple times until the bucket is filled."]}
{"task_id": "scoop_popcorn_to_bucket", "episode_index": 191, "video_path": "scoop_popcorn_to_bucket/videos/chunk-000/{video_key}/episode_000191.mp4", "tasks": ["Scoop popcorn to bucket."], "length": 596, "action_config": [{"start_frame": 16, "end_frame": 216, "action_text": "pour the popcorn into the popcorn bucket", "skill": "Pour", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 216, "end_frame": 388, "action_text": "pour the popcorn into the popcorn bucket", "skill": "Pour", "language_memory": "Popcorn has been poured into the bucket."}, {"start_frame": 388, "end_frame": 573, "action_text": "pour the popcorn into the popcorn bucket", "skill": "Pour", "language_memory": "Popcorn has been poured into the bucket."}], "detailed_task_instruction": ["Scoop popcorn from the source and pour it into the popcorn bucket, repeating this action multiple times until the bucket is filled."]}
{"task_id": "scoop_popcorn_to_bucket", "episode_index": 192, "video_path": "scoop_popcorn_to_bucket/videos/chunk-000/{video_key}/episode_000192.mp4", "tasks": ["Scoop popcorn to bucket."], "length": 820, "action_config": [{"start_frame": 30, "end_frame": 264, "action_text": "pour the popcorn into the popcorn bucket", "skill": "Pour", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 264, "end_frame": 494, "action_text": "pour the popcorn into the popcorn bucket", "skill": "Pour", "language_memory": "Popcorn has been poured into the bucket."}, {"start_frame": 494, "end_frame": 786, "action_text": "pour the popcorn into the popcorn bucket", "skill": "Pour", "language_memory": "Popcorn has been poured into the bucket."}], "detailed_task_instruction": ["Scoop popcorn from the source and pour it into the popcorn bucket, repeating this action multiple times until the bucket is filled."]}
{"task_id": "scoop_popcorn_to_bucket", "episode_index": 193, "video_path": "scoop_popcorn_to_bucket/videos/chunk-000/{video_key}/episode_000193.mp4", "tasks": ["Scoop popcorn to bucket."], "length": 820, "action_config": [{"start_frame": 37, "end_frame": 294, "action_text": "pour the popcorn into the popcorn bucket", "skill": "Pour", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 294, "end_frame": 492, "action_text": "pour the popcorn into the popcorn bucket", "skill": "Pour", "language_memory": "Popcorn has been poured into the bucket."}, {"start_frame": 492, "end_frame": 795, "action_text": "pour the popcorn into the popcorn bucket", "skill": "Pour", "language_memory": "Popcorn has been poured into the bucket."}], "detailed_task_instruction": ["Scoop popcorn from the source and pour it into the popcorn bucket, repeating this action multiple times until the bucket is filled."]}
{"task_id": "scoop_popcorn_to_bucket", "episode_index": 194, "video_path": "scoop_popcorn_to_bucket/videos/chunk-000/{video_key}/episode_000194.mp4", "tasks": ["Scoop popcorn to bucket."], "length": 580, "action_config": [{"start_frame": 8, "end_frame": 221, "action_text": "pour the popcorn into the popcorn bucket", "skill": "Pour", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 221, "end_frame": 397, "action_text": "pour the popcorn into the popcorn bucket", "skill": "Pour", "language_memory": "Popcorn has been poured into the bucket."}, {"start_frame": 397, "end_frame": 573, "action_text": "pour the popcorn into the popcorn bucket", "skill": "Pour", "language_memory": "Popcorn has been poured into the bucket."}], "detailed_task_instruction": ["Scoop popcorn from the source and pour it into the popcorn bucket, repeating this action multiple times until the bucket is filled."]}
{"task_id": "scoop_popcorn_to_bucket", "episode_index": 195, "video_path": "scoop_popcorn_to_bucket/videos/chunk-000/{video_key}/episode_000195.mp4", "tasks": ["Scoop popcorn to bucket."], "length": 686, "action_config": [{"start_frame": 10, "end_frame": 221, "action_text": "pour the popcorn into the popcorn bucket", "skill": "Pour", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 221, "end_frame": 423, "action_text": "pour the popcorn into the popcorn bucket", "skill": "Pour", "language_memory": "Popcorn has been poured into the bucket."}, {"start_frame": 423, "end_frame": 670, "action_text": "pour the popcorn into the popcorn bucket", "skill": "Pour", "language_memory": "Popcorn has been poured into the bucket."}], "detailed_task_instruction": ["Scoop popcorn from the source and pour it into the popcorn bucket, repeating this action multiple times until the bucket is filled."]}
{"task_id": "scoop_popcorn_to_bucket", "episode_index": 196, "video_path": "scoop_popcorn_to_bucket/videos/chunk-000/{video_key}/episode_000196.mp4", "tasks": ["Scoop popcorn to bucket."], "length": 647, "action_config": [{"start_frame": 15, "end_frame": 207, "action_text": "pour the popcorn into the popcorn bucket", "skill": "Pour", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 207, "end_frame": 387, "action_text": "pour the popcorn into the popcorn bucket", "skill": "Pour", "language_memory": "Popcorn has been poured into the bucket."}, {"start_frame": 387, "end_frame": 624, "action_text": "pour the popcorn into the popcorn bucket", "skill": "Pour", "language_memory": "Popcorn has been poured into the bucket."}], "detailed_task_instruction": ["Scoop popcorn from the source and pour it into the popcorn bucket, repeating this action multiple times until the bucket is filled."]}
{"task_id": "scoop_popcorn_to_bucket", "episode_index": 197, "video_path": "scoop_popcorn_to_bucket/videos/chunk-000/{video_key}/episode_000197.mp4", "tasks": ["Scoop popcorn to bucket."], "length": 896, "action_config": [{"start_frame": 0, "end_frame": 312, "action_text": "pour the popcorn into the popcorn bucket", "skill": "Pour", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 312, "end_frame": 598, "action_text": "pour the popcorn into the popcorn bucket", "skill": "Pour", "language_memory": "Popcorn has been poured into the bucket."}, {"start_frame": 598, "end_frame": 867, "action_text": "pour the popcorn into the popcorn bucket", "skill": "Pour", "language_memory": "Popcorn has been poured into the bucket."}], "detailed_task_instruction": ["Scoop popcorn from the source and pour it into the popcorn bucket, repeating this action multiple times until the bucket is filled."]}
{"task_id": "scoop_popcorn_to_bucket", "episode_index": 198, "video_path": "scoop_popcorn_to_bucket/videos/chunk-000/{video_key}/episode_000198.mp4", "tasks": ["Scoop popcorn to bucket."], "length": 541, "action_config": [{"start_frame": 0, "end_frame": 213, "action_text": "pour the popcorn into the popcorn bucket", "skill": "Pour", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 213, "end_frame": 339, "action_text": "pour the popcorn into the popcorn bucket", "skill": "Pour", "language_memory": "Popcorn has been poured into the bucket."}, {"start_frame": 339, "end_frame": 533, "action_text": "pour the popcorn into the popcorn bucket", "skill": "Pour", "language_memory": "Popcorn has been poured into the bucket."}], "detailed_task_instruction": ["Scoop popcorn from the source and pour it into the popcorn bucket, repeating this action multiple times until the bucket is filled."]}
{"task_id": "scoop_popcorn_to_bucket", "episode_index": 199, "video_path": "scoop_popcorn_to_bucket/videos/chunk-000/{video_key}/episode_000199.mp4", "tasks": ["Scoop popcorn to bucket."], "length": 702, "action_config": [{"start_frame": 28, "end_frame": 329, "action_text": "pour the popcorn into the popcorn bucket", "skill": "Pour", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 329, "end_frame": 495, "action_text": "pour the popcorn into the popcorn bucket", "skill": "Pour", "language_memory": "Popcorn has been poured into the bucket."}, {"start_frame": 495, "end_frame": 684, "action_text": "pour the popcorn into the popcorn bucket", "skill": "Pour", "language_memory": "Popcorn has been poured into the bucket."}], "detailed_task_instruction": ["Scoop popcorn from the source and pour it into the popcorn bucket, repeating this action multiple times until the bucket is filled."]}
{"task_id": "scoop_popcorn_to_bucket", "episode_index": 200, "video_path": "scoop_popcorn_to_bucket/videos/chunk-000/{video_key}/episode_000200.mp4", "tasks": ["Scoop popcorn to bucket."], "length": 672, "action_config": [{"start_frame": 9, "end_frame": 226, "action_text": "pour the popcorn into the popcorn bucket", "skill": "Pour", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 226, "end_frame": 405, "action_text": "pour the popcorn into the popcorn bucket", "skill": "Pour", "language_memory": "Popcorn has been poured into the bucket."}, {"start_frame": 405, "end_frame": 624, "action_text": "pour the popcorn into the popcorn bucket", "skill": "Pour", "language_memory": "Popcorn has been poured into the bucket."}], "detailed_task_instruction": ["Scoop popcorn from the source and pour it into the popcorn bucket, repeating this action multiple times until the bucket is filled."]}
{"task_id": "scoop_popcorn_to_bucket", "episode_index": 201, "video_path": "scoop_popcorn_to_bucket/videos/chunk-000/{video_key}/episode_000201.mp4", "tasks": ["Scoop popcorn to bucket."], "length": 619, "action_config": [{"start_frame": 48, "end_frame": 272, "action_text": "pour the popcorn into the popcorn bucket", "skill": "Pour", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 272, "end_frame": 443, "action_text": "pour the popcorn into the popcorn bucket", "skill": "Pour", "language_memory": "Popcorn has been poured into the bucket."}, {"start_frame": 443, "end_frame": 605, "action_text": "pour the popcorn into the popcorn bucket", "skill": "Pour", "language_memory": "Popcorn has been poured into the bucket."}], "detailed_task_instruction": ["Scoop popcorn from the source and pour it into the popcorn bucket, repeating this action multiple times until the bucket is filled."]}
{"task_id": "scoop_popcorn_to_bucket", "episode_index": 202, "video_path": "scoop_popcorn_to_bucket/videos/chunk-000/{video_key}/episode_000202.mp4", "tasks": ["Scoop popcorn to bucket."], "length": 651, "action_config": [{"start_frame": 18, "end_frame": 279, "action_text": "pour the popcorn into the popcorn bucket", "skill": "Pour", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 279, "end_frame": 453, "action_text": "pour the popcorn into the popcorn bucket", "skill": "Pour", "language_memory": "Popcorn has been poured into the bucket."}, {"start_frame": 453, "end_frame": 615, "action_text": "pour the popcorn into the popcorn bucket", "skill": "Pour", "language_memory": "Popcorn has been poured into the bucket."}], "detailed_task_instruction": ["Scoop popcorn from the source and pour it into the popcorn bucket, repeating this action multiple times until the bucket is filled."]}
{"task_id": "scoop_popcorn_to_bucket", "episode_index": 203, "video_path": "scoop_popcorn_to_bucket/videos/chunk-000/{video_key}/episode_000203.mp4", "tasks": ["Scoop popcorn to bucket."], "length": 704, "action_config": [{"start_frame": 12, "end_frame": 243, "action_text": "pour the popcorn into the popcorn bucket", "skill": "Pour", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 243, "end_frame": 432, "action_text": "pour the popcorn into the popcorn bucket", "skill": "Pour", "language_memory": "Popcorn has been poured into the bucket."}, {"start_frame": 432, "end_frame": 684, "action_text": "pour the popcorn into the popcorn bucket", "skill": "Pour", "language_memory": "Popcorn has been poured into the bucket."}], "detailed_task_instruction": ["Scoop popcorn from the source and pour it into the popcorn bucket, repeating this action multiple times until the bucket is filled."]}
{"task_id": "scoop_popcorn_to_bucket", "episode_index": 204, "video_path": "scoop_popcorn_to_bucket/videos/chunk-000/{video_key}/episode_000204.mp4", "tasks": ["Scoop popcorn to bucket."], "length": 575, "action_config": [{"start_frame": 16, "end_frame": 243, "action_text": "pour the popcorn into the popcorn bucket", "skill": "Pour", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 243, "end_frame": 398, "action_text": "pour the popcorn into the popcorn bucket", "skill": "Pour", "language_memory": "Popcorn has been poured into the bucket."}, {"start_frame": 398, "end_frame": 566, "action_text": "pour the popcorn into the popcorn bucket", "skill": "Pour", "language_memory": "Popcorn has been poured into the bucket."}], "detailed_task_instruction": ["Scoop popcorn from the source and pour it into the popcorn bucket, repeating this action multiple times until the bucket is filled."]}
{"task_id": "scoop_popcorn_to_bucket", "episode_index": 205, "video_path": "scoop_popcorn_to_bucket/videos/chunk-000/{video_key}/episode_000205.mp4", "tasks": ["Scoop popcorn to bucket."], "length": 625, "action_config": [{"start_frame": 18, "end_frame": 240, "action_text": "pour the popcorn into the popcorn bucket", "skill": "Pour", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 240, "end_frame": 405, "action_text": "pour the popcorn into the popcorn bucket", "skill": "Pour", "language_memory": "Popcorn has been poured into the bucket."}, {"start_frame": 405, "end_frame": 605, "action_text": "pour the popcorn into the popcorn bucket", "skill": "Pour", "language_memory": "Popcorn has been poured into the bucket."}], "detailed_task_instruction": ["Scoop popcorn from the source and pour it into the popcorn bucket, repeating this action multiple times until the bucket is filled."]}
{"task_id": "scoop_popcorn_to_bucket", "episode_index": 206, "video_path": "scoop_popcorn_to_bucket/videos/chunk-000/{video_key}/episode_000206.mp4", "tasks": ["Scoop popcorn to bucket."], "length": 645, "action_config": [{"start_frame": 12, "end_frame": 222, "action_text": "pour the popcorn into the popcorn bucket", "skill": "Pour", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 222, "end_frame": 407, "action_text": "pour the popcorn into the popcorn bucket", "skill": "Pour", "language_memory": "Popcorn has been poured into the bucket."}, {"start_frame": 407, "end_frame": 623, "action_text": "pour the popcorn into the popcorn bucket", "skill": "Pour", "language_memory": "Popcorn has been poured into the bucket."}], "detailed_task_instruction": ["Scoop popcorn from the source and pour it into the popcorn bucket, repeating this action multiple times until the bucket is filled."]}
{"task_id": "scoop_popcorn_to_bucket", "episode_index": 207, "video_path": "scoop_popcorn_to_bucket/videos/chunk-000/{video_key}/episode_000207.mp4", "tasks": ["Scoop popcorn to bucket."], "length": 935, "action_config": [{"start_frame": 36, "end_frame": 374, "action_text": "pour the popcorn into the popcorn bucket", "skill": "Pour", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 374, "end_frame": 611, "action_text": "pour the popcorn into the popcorn bucket", "skill": "Pour", "language_memory": "Popcorn has been poured into the bucket."}, {"start_frame": 611, "end_frame": 906, "action_text": "pour the popcorn into the popcorn bucket", "skill": "Pour", "language_memory": "Popcorn has been poured into the bucket."}], "detailed_task_instruction": ["Scoop popcorn from the source and pour it into the popcorn bucket, repeating this action multiple times until the bucket is filled."]}
{"task_id": "scoop_popcorn_to_bucket", "episode_index": 208, "video_path": "scoop_popcorn_to_bucket/videos/chunk-000/{video_key}/episode_000208.mp4", "tasks": ["Scoop popcorn to bucket."], "length": 489, "action_config": [{"start_frame": 9, "end_frame": 185, "action_text": "pour the popcorn into the popcorn bucket", "skill": "Pour", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 185, "end_frame": 345, "action_text": "pour the popcorn into the popcorn bucket", "skill": "Pour", "language_memory": "Popcorn has been poured into the bucket."}, {"start_frame": 345, "end_frame": 483, "action_text": "pour the popcorn into the popcorn bucket", "skill": "Pour", "language_memory": "Popcorn has been poured into the bucket."}], "detailed_task_instruction": ["Scoop popcorn from the source and pour it into the popcorn bucket, repeating this action multiple times until the bucket is filled."]}
{"task_id": "scoop_popcorn_to_bucket", "episode_index": 209, "video_path": "scoop_popcorn_to_bucket/videos/chunk-000/{video_key}/episode_000209.mp4", "tasks": ["Scoop popcorn to bucket."], "length": 569, "action_config": [{"start_frame": 18, "end_frame": 195, "action_text": "pour the popcorn into the popcorn bucket", "skill": "Pour", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 195, "end_frame": 342, "action_text": "pour the popcorn into the popcorn bucket", "skill": "Pour", "language_memory": "Popcorn has been poured into the bucket."}, {"start_frame": 342, "end_frame": 528, "action_text": "pour the popcorn into the popcorn bucket", "skill": "Pour", "language_memory": "Popcorn has been poured into the bucket."}], "detailed_task_instruction": ["Scoop popcorn from the source and pour it into the popcorn bucket, repeating this action multiple times until the bucket is filled."]}
{"task_id": "scoop_popcorn_to_bucket", "episode_index": 210, "video_path": "scoop_popcorn_to_bucket/videos/chunk-000/{video_key}/episode_000210.mp4", "tasks": ["Scoop popcorn to bucket."], "length": 767, "action_config": [{"start_frame": 18, "end_frame": 300, "action_text": "pour the popcorn into the popcorn bucket", "skill": "Pour", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 300, "end_frame": 494, "action_text": "pour the popcorn into the popcorn bucket", "skill": "Pour", "language_memory": "Popcorn has been poured into the bucket."}, {"start_frame": 494, "end_frame": 735, "action_text": "pour the popcorn into the popcorn bucket", "skill": "Pour", "language_memory": "Popcorn has been poured into the bucket."}], "detailed_task_instruction": ["Scoop popcorn from the source and pour it into the popcorn bucket, repeating this action multiple times until the bucket is filled."]}
{"task_id": "take_bagged_food_to_cart", "episode_index": 0, "video_path": "take_bagged_food_to_cart/videos/chunk-000/{video_key}/episode_000000.mp4", "tasks": ["Take bagged food to cart."], "length": 575, "action_config": [{"start_frame": 0, "end_frame": 157, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 157, "end_frame": 249, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 249, "end_frame": 325, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 325, "end_frame": 378, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up white bagged food from the shelf and rotated its waist."}, {"start_frame": 378, "end_frame": 478, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the white bagged food from the shelf and placed it into the shopping cart."}, {"start_frame": 478, "end_frame": 568, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up white bagged food from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the white bagged food from the shelf, rotate your waist, and place the white bagged food into the shopping cart."]}
{"task_id": "take_bagged_food_to_cart", "episode_index": 1, "video_path": "take_bagged_food_to_cart/videos/chunk-000/{video_key}/episode_000001.mp4", "tasks": ["Take bagged food to cart."], "length": 743, "action_config": [{"start_frame": 0, "end_frame": 165, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 165, "end_frame": 312, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 312, "end_frame": 397, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 397, "end_frame": 477, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up white bagged food from the shelf and rotated its waist."}, {"start_frame": 477, "end_frame": 627, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the white bagged food from the shelf and placed it into the shopping cart."}, {"start_frame": 627, "end_frame": 743, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up white bagged food from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the white bagged food from the shelf, rotate your waist, and place the white bagged food into the shopping cart."]}
{"task_id": "take_bagged_food_to_cart", "episode_index": 2, "video_path": "take_bagged_food_to_cart/videos/chunk-000/{video_key}/episode_000002.mp4", "tasks": ["Take bagged food to cart."], "length": 788, "action_config": [{"start_frame": 0, "end_frame": 154, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 154, "end_frame": 246, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 246, "end_frame": 339, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 339, "end_frame": 444, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up white bagged food from the shelf and rotated its waist."}, {"start_frame": 444, "end_frame": 585, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the white bagged food from the shelf and placed it into the shopping cart."}, {"start_frame": 585, "end_frame": 788, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up white bagged food from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the white bagged food from the shelf, rotate your waist, and place the white bagged food into the shopping cart."]}
{"task_id": "take_bagged_food_to_cart", "episode_index": 3, "video_path": "take_bagged_food_to_cart/videos/chunk-000/{video_key}/episode_000003.mp4", "tasks": ["Take bagged food to cart."], "length": 640, "action_config": [{"start_frame": 0, "end_frame": 159, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 159, "end_frame": 273, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 273, "end_frame": 354, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 354, "end_frame": 453, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up white bagged food from the shelf and rotated its waist."}, {"start_frame": 453, "end_frame": 546, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the white bagged food from the shelf and placed it into the shopping cart."}, {"start_frame": 546, "end_frame": 640, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up white bagged food from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the white bagged food from the shelf, rotate your waist, and place the white bagged food into the shopping cart."]}
{"task_id": "take_bagged_food_to_cart", "episode_index": 4, "video_path": "take_bagged_food_to_cart/videos/chunk-000/{video_key}/episode_000004.mp4", "tasks": ["Take bagged food to cart."], "length": 548, "action_config": [{"start_frame": 0, "end_frame": 147, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 147, "end_frame": 243, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 243, "end_frame": 318, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 318, "end_frame": 381, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up white bagged food from the shelf and rotated its waist."}, {"start_frame": 381, "end_frame": 457, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the white bagged food from the shelf and placed it into the shopping cart."}, {"start_frame": 457, "end_frame": 548, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up white bagged food from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the white bagged food from the shelf, rotate your waist, and place the white bagged food into the shopping cart."]}
{"task_id": "take_bagged_food_to_cart", "episode_index": 5, "video_path": "take_bagged_food_to_cart/videos/chunk-000/{video_key}/episode_000005.mp4", "tasks": ["Take bagged food to cart."], "length": 638, "action_config": [{"start_frame": 0, "end_frame": 190, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 190, "end_frame": 313, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 313, "end_frame": 378, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 378, "end_frame": 432, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up white bagged food from the shelf and rotated its waist."}, {"start_frame": 432, "end_frame": 537, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the white bagged food from the shelf and placed it into the shopping cart."}, {"start_frame": 537, "end_frame": 638, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up white bagged food from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the white bagged food from the shelf, rotate your waist, and place the white bagged food into the shopping cart."]}
{"task_id": "take_bagged_food_to_cart", "episode_index": 6, "video_path": "take_bagged_food_to_cart/videos/chunk-000/{video_key}/episode_000006.mp4", "tasks": ["Take bagged food to cart."], "length": 658, "action_config": [{"start_frame": 0, "end_frame": 189, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 189, "end_frame": 304, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 304, "end_frame": 385, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 385, "end_frame": 471, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up white bagged food from the shelf and rotated its waist."}, {"start_frame": 471, "end_frame": 594, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the white bagged food from the shelf and placed it into the shopping cart."}, {"start_frame": 594, "end_frame": 658, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up white bagged food from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the white bagged food from the shelf, rotate your waist, and place the white bagged food into the shopping cart."]}
{"task_id": "take_bagged_food_to_cart", "episode_index": 7, "video_path": "take_bagged_food_to_cart/videos/chunk-000/{video_key}/episode_000007.mp4", "tasks": ["Take bagged food to cart."], "length": 624, "action_config": [{"start_frame": 0, "end_frame": 174, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 174, "end_frame": 282, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 282, "end_frame": 351, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 351, "end_frame": 408, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up white bagged food from the shelf and rotated its waist."}, {"start_frame": 408, "end_frame": 483, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the white bagged food from the shelf and placed it into the shopping cart."}, {"start_frame": 483, "end_frame": 624, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up white bagged food from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the white bagged food from the shelf, rotate your waist, and place the white bagged food into the shopping cart."]}
{"task_id": "take_bagged_food_to_cart", "episode_index": 8, "video_path": "take_bagged_food_to_cart/videos/chunk-000/{video_key}/episode_000008.mp4", "tasks": ["Take bagged food to cart."], "length": 681, "action_config": [{"start_frame": 0, "end_frame": 189, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 189, "end_frame": 301, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 301, "end_frame": 363, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 363, "end_frame": 441, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up white bagged food from the shelf and rotated its waist."}, {"start_frame": 441, "end_frame": 525, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the white bagged food from the shelf and placed it into the shopping cart."}, {"start_frame": 525, "end_frame": 681, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up white bagged food from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the white bagged food from the shelf, rotate your waist, and place the white bagged food into the shopping cart."]}
{"task_id": "take_bagged_food_to_cart", "episode_index": 9, "video_path": "take_bagged_food_to_cart/videos/chunk-000/{video_key}/episode_000009.mp4", "tasks": ["Take bagged food to cart."], "length": 734, "action_config": [{"start_frame": 0, "end_frame": 195, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 195, "end_frame": 332, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 332, "end_frame": 400, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 400, "end_frame": 480, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up white bagged food from the shelf and rotated its waist."}, {"start_frame": 480, "end_frame": 571, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the white bagged food from the shelf and placed it into the shopping cart."}, {"start_frame": 571, "end_frame": 714, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up white bagged food from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the white bagged food from the shelf, rotate your waist, and place the white bagged food into the shopping cart."]}
{"task_id": "take_bagged_food_to_cart", "episode_index": 10, "video_path": "take_bagged_food_to_cart/videos/chunk-000/{video_key}/episode_000010.mp4", "tasks": ["Take bagged food to cart."], "length": 589, "action_config": [{"start_frame": 0, "end_frame": 169, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 169, "end_frame": 267, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 267, "end_frame": 336, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 336, "end_frame": 396, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up white bagged food from the shelf and rotated its waist."}, {"start_frame": 396, "end_frame": 477, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the white bagged food from the shelf and placed it into the shopping cart."}, {"start_frame": 477, "end_frame": 589, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up white bagged food from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the white bagged food from the shelf, rotate your waist, and place the white bagged food into the shopping cart."]}
{"task_id": "take_bagged_food_to_cart", "episode_index": 11, "video_path": "take_bagged_food_to_cart/videos/chunk-000/{video_key}/episode_000011.mp4", "tasks": ["Take bagged food to cart."], "length": 554, "action_config": [{"start_frame": 0, "end_frame": 153, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 153, "end_frame": 271, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 271, "end_frame": 342, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 342, "end_frame": 402, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up white bagged food from the shelf and rotated its waist."}, {"start_frame": 402, "end_frame": 483, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the white bagged food from the shelf and placed it into the shopping cart."}, {"start_frame": 483, "end_frame": 554, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up white bagged food from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the white bagged food from the shelf, rotate your waist, and place the white bagged food into the shopping cart."]}
{"task_id": "take_bagged_food_to_cart", "episode_index": 12, "video_path": "take_bagged_food_to_cart/videos/chunk-000/{video_key}/episode_000012.mp4", "tasks": ["Take bagged food to cart."], "length": 524, "action_config": [{"start_frame": 0, "end_frame": 144, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 144, "end_frame": 223, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 223, "end_frame": 286, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 286, "end_frame": 342, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up white bagged food from the shelf and rotated its waist."}, {"start_frame": 342, "end_frame": 421, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the white bagged food from the shelf and placed it into the shopping cart."}, {"start_frame": 421, "end_frame": 524, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up white bagged food from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the white bagged food from the shelf, rotate your waist, and place the white bagged food into the shopping cart."]}
{"task_id": "take_bagged_food_to_cart", "episode_index": 13, "video_path": "take_bagged_food_to_cart/videos/chunk-000/{video_key}/episode_000013.mp4", "tasks": ["Take bagged food to cart."], "length": 754, "action_config": [{"start_frame": 0, "end_frame": 203, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 203, "end_frame": 346, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 346, "end_frame": 447, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 447, "end_frame": 534, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up white bagged food from the shelf and rotated its waist."}, {"start_frame": 534, "end_frame": 628, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the white bagged food from the shelf and placed it into the shopping cart."}, {"start_frame": 628, "end_frame": 754, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up white bagged food from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the white bagged food from the shelf, rotate your waist, and place the white bagged food into the shopping cart."]}
{"task_id": "take_bagged_food_to_cart", "episode_index": 14, "video_path": "take_bagged_food_to_cart/videos/chunk-000/{video_key}/episode_000014.mp4", "tasks": ["Take bagged food to cart."], "length": 686, "action_config": [{"start_frame": 0, "end_frame": 166, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 166, "end_frame": 297, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 297, "end_frame": 380, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 380, "end_frame": 462, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up white bagged food from the shelf and rotated its waist."}, {"start_frame": 462, "end_frame": 550, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the white bagged food from the shelf and placed it into the shopping cart."}, {"start_frame": 550, "end_frame": 686, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up white bagged food from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the white bagged food from the shelf, rotate your waist, and place the white bagged food into the shopping cart."]}
{"task_id": "take_bagged_food_to_cart", "episode_index": 15, "video_path": "take_bagged_food_to_cart/videos/chunk-000/{video_key}/episode_000015.mp4", "tasks": ["Take bagged food to cart."], "length": 666, "action_config": [{"start_frame": 0, "end_frame": 135, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 135, "end_frame": 265, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 265, "end_frame": 338, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 338, "end_frame": 439, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up white bagged food from the shelf and rotated its waist."}, {"start_frame": 439, "end_frame": 531, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the white bagged food from the shelf and placed it into the shopping cart."}, {"start_frame": 531, "end_frame": 666, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up white bagged food from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the white bagged food from the shelf, rotate your waist, and place the white bagged food into the shopping cart."]}
{"task_id": "take_bagged_food_to_cart", "episode_index": 16, "video_path": "take_bagged_food_to_cart/videos/chunk-000/{video_key}/episode_000016.mp4", "tasks": ["Take bagged food to cart."], "length": 637, "action_config": [{"start_frame": 0, "end_frame": 175, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 175, "end_frame": 288, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 288, "end_frame": 360, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 360, "end_frame": 417, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up white bagged food from the shelf and rotated its waist."}, {"start_frame": 417, "end_frame": 489, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the white bagged food from the shelf and placed it into the shopping cart."}, {"start_frame": 489, "end_frame": 637, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up white bagged food from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the white bagged food from the shelf, rotate your waist, and place the white bagged food into the shopping cart."]}
{"task_id": "take_bagged_food_to_cart", "episode_index": 17, "video_path": "take_bagged_food_to_cart/videos/chunk-000/{video_key}/episode_000017.mp4", "tasks": ["Take bagged food to cart."], "length": 620, "action_config": [{"start_frame": 0, "end_frame": 192, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 192, "end_frame": 297, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 297, "end_frame": 372, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 372, "end_frame": 435, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up white bagged food from the shelf and rotated its waist."}, {"start_frame": 435, "end_frame": 492, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the white bagged food from the shelf and placed it into the shopping cart."}, {"start_frame": 492, "end_frame": 620, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up white bagged food from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the white bagged food from the shelf, rotate your waist, and place the white bagged food into the shopping cart."]}
{"task_id": "take_bagged_food_to_cart", "episode_index": 18, "video_path": "take_bagged_food_to_cart/videos/chunk-000/{video_key}/episode_000018.mp4", "tasks": ["Take bagged food to cart."], "length": 673, "action_config": [{"start_frame": 0, "end_frame": 152, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 152, "end_frame": 291, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 291, "end_frame": 381, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 381, "end_frame": 458, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up white bagged food from the shelf and rotated its waist."}, {"start_frame": 458, "end_frame": 536, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the white bagged food from the shelf and placed it into the shopping cart."}, {"start_frame": 536, "end_frame": 651, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up white bagged food from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the white bagged food from the shelf, rotate your waist, and place the white bagged food into the shopping cart."]}
{"task_id": "take_bagged_food_to_cart", "episode_index": 19, "video_path": "take_bagged_food_to_cart/videos/chunk-000/{video_key}/episode_000019.mp4", "tasks": ["Take bagged food to cart."], "length": 598, "action_config": [{"start_frame": 0, "end_frame": 143, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 143, "end_frame": 252, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 252, "end_frame": 351, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 351, "end_frame": 423, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up white bagged food from the shelf and rotated its waist."}, {"start_frame": 423, "end_frame": 486, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the white bagged food from the shelf and placed it into the shopping cart."}, {"start_frame": 486, "end_frame": 585, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up white bagged food from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the white bagged food from the shelf, rotate your waist, and place the white bagged food into the shopping cart."]}
{"task_id": "take_bagged_food_to_cart", "episode_index": 20, "video_path": "take_bagged_food_to_cart/videos/chunk-000/{video_key}/episode_000020.mp4", "tasks": ["Take bagged food to cart."], "length": 646, "action_config": [{"start_frame": 0, "end_frame": 152, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 152, "end_frame": 285, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 285, "end_frame": 378, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 378, "end_frame": 447, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up white bagged food from the shelf and rotated its waist."}, {"start_frame": 447, "end_frame": 522, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the white bagged food from the shelf and placed it into the shopping cart."}, {"start_frame": 522, "end_frame": 630, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up white bagged food from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the white bagged food from the shelf, rotate your waist, and place the white bagged food into the shopping cart."]}
{"task_id": "take_bagged_food_to_cart", "episode_index": 21, "video_path": "take_bagged_food_to_cart/videos/chunk-000/{video_key}/episode_000021.mp4", "tasks": ["Take bagged food to cart."], "length": 641, "action_config": [{"start_frame": 0, "end_frame": 152, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 152, "end_frame": 267, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 267, "end_frame": 340, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 340, "end_frame": 390, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up white bagged food from the shelf and rotated its waist."}, {"start_frame": 390, "end_frame": 452, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the white bagged food from the shelf and placed it into the shopping cart."}, {"start_frame": 452, "end_frame": 575, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up white bagged food from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the white bagged food from the shelf, rotate your waist, and place the white bagged food into the shopping cart."]}
{"task_id": "take_bagged_food_to_cart", "episode_index": 22, "video_path": "take_bagged_food_to_cart/videos/chunk-000/{video_key}/episode_000022.mp4", "tasks": ["Take bagged food to cart."], "length": 639, "action_config": [{"start_frame": 0, "end_frame": 156, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 156, "end_frame": 264, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 264, "end_frame": 339, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 339, "end_frame": 405, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up white bagged food from the shelf and rotated its waist."}, {"start_frame": 405, "end_frame": 503, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the white bagged food from the shelf and placed it into the shopping cart."}, {"start_frame": 503, "end_frame": 620, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up white bagged food from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the white bagged food from the shelf, rotate your waist, and place the white bagged food into the shopping cart."]}
{"task_id": "take_bagged_food_to_cart", "episode_index": 23, "video_path": "take_bagged_food_to_cart/videos/chunk-000/{video_key}/episode_000023.mp4", "tasks": ["Take bagged food to cart."], "length": 608, "action_config": [{"start_frame": 0, "end_frame": 144, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 144, "end_frame": 272, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 272, "end_frame": 366, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 366, "end_frame": 429, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up white bagged food from the shelf and rotated its waist."}, {"start_frame": 429, "end_frame": 495, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the white bagged food from the shelf and placed it into the shopping cart."}, {"start_frame": 495, "end_frame": 593, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up white bagged food from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the white bagged food from the shelf, rotate your waist, and place the white bagged food into the shopping cart."]}
{"task_id": "take_bagged_food_to_cart", "episode_index": 24, "video_path": "take_bagged_food_to_cart/videos/chunk-000/{video_key}/episode_000024.mp4", "tasks": ["Take bagged food to cart."], "length": 615, "action_config": [{"start_frame": 0, "end_frame": 180, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 180, "end_frame": 288, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 288, "end_frame": 357, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 357, "end_frame": 426, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up white bagged food from the shelf and rotated its waist."}, {"start_frame": 426, "end_frame": 491, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the white bagged food from the shelf and placed it into the shopping cart."}, {"start_frame": 491, "end_frame": 609, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up white bagged food from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the white bagged food from the shelf, rotate your waist, and place the white bagged food into the shopping cart."]}
{"task_id": "take_bagged_food_to_cart", "episode_index": 25, "video_path": "take_bagged_food_to_cart/videos/chunk-000/{video_key}/episode_000025.mp4", "tasks": ["Take bagged food to cart."], "length": 625, "action_config": [{"start_frame": 0, "end_frame": 150, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 150, "end_frame": 270, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 270, "end_frame": 348, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 348, "end_frame": 429, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up white bagged food from the shelf and rotated its waist."}, {"start_frame": 429, "end_frame": 539, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the white bagged food from the shelf and placed it into the shopping cart."}, {"start_frame": 539, "end_frame": 622, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up white bagged food from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the white bagged food from the shelf, rotate your waist, and place the white bagged food into the shopping cart."]}
{"task_id": "take_bagged_food_to_cart", "episode_index": 26, "video_path": "take_bagged_food_to_cart/videos/chunk-000/{video_key}/episode_000026.mp4", "tasks": ["Take bagged food to cart."], "length": 612, "action_config": [{"start_frame": 0, "end_frame": 144, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 144, "end_frame": 240, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 240, "end_frame": 318, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 318, "end_frame": 387, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up white bagged food from the shelf and rotated its waist."}, {"start_frame": 387, "end_frame": 480, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the white bagged food from the shelf and placed it into the shopping cart."}, {"start_frame": 480, "end_frame": 597, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up white bagged food from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the white bagged food from the shelf, rotate your waist, and place the white bagged food into the shopping cart."]}
{"task_id": "take_bagged_food_to_cart", "episode_index": 27, "video_path": "take_bagged_food_to_cart/videos/chunk-000/{video_key}/episode_000027.mp4", "tasks": ["Take bagged food to cart."], "length": 626, "action_config": [{"start_frame": 0, "end_frame": 144, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 144, "end_frame": 264, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 264, "end_frame": 339, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 339, "end_frame": 434, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up white bagged food from the shelf and rotated its waist."}, {"start_frame": 434, "end_frame": 501, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the white bagged food from the shelf and placed it into the shopping cart."}, {"start_frame": 501, "end_frame": 597, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up white bagged food from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the white bagged food from the shelf, rotate your waist, and place the white bagged food into the shopping cart."]}
{"task_id": "take_bagged_food_to_cart", "episode_index": 28, "video_path": "take_bagged_food_to_cart/videos/chunk-000/{video_key}/episode_000028.mp4", "tasks": ["Take bagged food to cart."], "length": 672, "action_config": [{"start_frame": 0, "end_frame": 171, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 171, "end_frame": 266, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 266, "end_frame": 351, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 351, "end_frame": 413, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up white bagged food from the shelf and rotated its waist."}, {"start_frame": 413, "end_frame": 513, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the white bagged food from the shelf and placed it into the shopping cart."}, {"start_frame": 513, "end_frame": 662, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up white bagged food from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the white bagged food from the shelf, rotate your waist, and place the white bagged food into the shopping cart."]}
{"task_id": "take_bagged_food_to_cart", "episode_index": 29, "video_path": "take_bagged_food_to_cart/videos/chunk-000/{video_key}/episode_000029.mp4", "tasks": ["Take bagged food to cart."], "length": 675, "action_config": [{"start_frame": 0, "end_frame": 149, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 149, "end_frame": 281, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 281, "end_frame": 374, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 374, "end_frame": 426, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up white bagged food from the shelf and rotated its waist."}, {"start_frame": 426, "end_frame": 527, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the white bagged food from the shelf and placed it into the shopping cart."}, {"start_frame": 527, "end_frame": 660, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up white bagged food from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the white bagged food from the shelf, rotate your waist, and place the white bagged food into the shopping cart."]}
{"task_id": "take_bagged_food_to_cart", "episode_index": 30, "video_path": "take_bagged_food_to_cart/videos/chunk-000/{video_key}/episode_000030.mp4", "tasks": ["Take bagged food to cart."], "length": 653, "action_config": [{"start_frame": 0, "end_frame": 114, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 114, "end_frame": 297, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 297, "end_frame": 393, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 393, "end_frame": 456, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up white bagged food from the shelf and rotated its waist."}, {"start_frame": 456, "end_frame": 525, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the white bagged food from the shelf and placed it into the shopping cart."}, {"start_frame": 525, "end_frame": 638, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up white bagged food from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the white bagged food from the shelf, rotate your waist, and place the white bagged food into the shopping cart."]}
{"task_id": "take_bagged_food_to_cart", "episode_index": 31, "video_path": "take_bagged_food_to_cart/videos/chunk-000/{video_key}/episode_000031.mp4", "tasks": ["Take bagged food to cart."], "length": 708, "action_config": [{"start_frame": 0, "end_frame": 83, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 83, "end_frame": 186, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 186, "end_frame": 276, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 276, "end_frame": 336, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up white bagged food from the shelf and rotated its waist."}, {"start_frame": 336, "end_frame": 438, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the white bagged food from the shelf and placed it into the shopping cart."}, {"start_frame": 438, "end_frame": 693, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up white bagged food from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the white bagged food from the shelf, rotate your waist, and place the white bagged food into the shopping cart."]}
{"task_id": "take_bagged_food_to_cart", "episode_index": 32, "video_path": "take_bagged_food_to_cart/videos/chunk-000/{video_key}/episode_000032.mp4", "tasks": ["Take bagged food to cart."], "length": 673, "action_config": [{"start_frame": 0, "end_frame": 138, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 138, "end_frame": 311, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 311, "end_frame": 393, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 393, "end_frame": 438, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up white bagged food from the shelf and rotated its waist."}, {"start_frame": 438, "end_frame": 536, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the white bagged food from the shelf and placed it into the shopping cart."}, {"start_frame": 536, "end_frame": 651, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up white bagged food from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the white bagged food from the shelf, rotate your waist, and place the white bagged food into the shopping cart."]}
{"task_id": "take_bagged_food_to_cart", "episode_index": 33, "video_path": "take_bagged_food_to_cart/videos/chunk-000/{video_key}/episode_000033.mp4", "tasks": ["Take bagged food to cart."], "length": 634, "action_config": [{"start_frame": 0, "end_frame": 186, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 186, "end_frame": 314, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 314, "end_frame": 384, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 384, "end_frame": 431, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up white bagged food from the shelf and rotated its waist."}, {"start_frame": 431, "end_frame": 501, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the white bagged food from the shelf and placed it into the shopping cart."}, {"start_frame": 501, "end_frame": 609, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up white bagged food from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the white bagged food from the shelf, rotate your waist, and place the white bagged food into the shopping cart."]}
{"task_id": "take_bagged_food_to_cart", "episode_index": 34, "video_path": "take_bagged_food_to_cart/videos/chunk-000/{video_key}/episode_000034.mp4", "tasks": ["Take bagged food to cart."], "length": 604, "action_config": [{"start_frame": 0, "end_frame": 138, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 138, "end_frame": 225, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 225, "end_frame": 309, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 309, "end_frame": 359, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up white bagged food from the shelf and rotated its waist."}, {"start_frame": 359, "end_frame": 429, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the white bagged food from the shelf and placed it into the shopping cart."}, {"start_frame": 429, "end_frame": 594, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up white bagged food from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the white bagged food from the shelf, rotate your waist, and place the white bagged food into the shopping cart."]}
{"task_id": "take_bagged_food_to_cart", "episode_index": 35, "video_path": "take_bagged_food_to_cart/videos/chunk-000/{video_key}/episode_000035.mp4", "tasks": ["Take bagged food to cart."], "length": 673, "action_config": [{"start_frame": 0, "end_frame": 149, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 149, "end_frame": 270, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 270, "end_frame": 369, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 369, "end_frame": 423, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up white bagged food from the shelf and rotated its waist."}, {"start_frame": 423, "end_frame": 507, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the white bagged food from the shelf and placed it into the shopping cart."}, {"start_frame": 507, "end_frame": 660, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up white bagged food from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the white bagged food from the shelf, rotate your waist, and place the white bagged food into the shopping cart."]}
{"task_id": "take_bagged_food_to_cart", "episode_index": 36, "video_path": "take_bagged_food_to_cart/videos/chunk-000/{video_key}/episode_000036.mp4", "tasks": ["Take bagged food to cart."], "length": 645, "action_config": [{"start_frame": 0, "end_frame": 120, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 120, "end_frame": 257, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 257, "end_frame": 358, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 358, "end_frame": 411, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up white bagged food from the shelf and rotated its waist."}, {"start_frame": 411, "end_frame": 501, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the white bagged food from the shelf and placed it into the shopping cart."}, {"start_frame": 501, "end_frame": 627, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up white bagged food from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the white bagged food from the shelf, rotate your waist, and place the white bagged food into the shopping cart."]}
{"task_id": "take_bagged_food_to_cart", "episode_index": 37, "video_path": "take_bagged_food_to_cart/videos/chunk-000/{video_key}/episode_000037.mp4", "tasks": ["Take bagged food to cart."], "length": 692, "action_config": [{"start_frame": 0, "end_frame": 123, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 123, "end_frame": 232, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 232, "end_frame": 297, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 297, "end_frame": 347, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up white bagged food from the shelf and rotated its waist."}, {"start_frame": 347, "end_frame": 428, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the white bagged food from the shelf and placed it into the shopping cart."}, {"start_frame": 428, "end_frame": 685, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up white bagged food from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the white bagged food from the shelf, rotate your waist, and place the white bagged food into the shopping cart."]}
{"task_id": "take_bagged_food_to_cart", "episode_index": 38, "video_path": "take_bagged_food_to_cart/videos/chunk-000/{video_key}/episode_000038.mp4", "tasks": ["Take bagged food to cart."], "length": 524, "action_config": [{"start_frame": 0, "end_frame": 95, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 95, "end_frame": 221, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 221, "end_frame": 288, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 288, "end_frame": 338, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up white bagged food from the shelf and rotated its waist."}, {"start_frame": 338, "end_frame": 416, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the white bagged food from the shelf and placed it into the shopping cart."}, {"start_frame": 416, "end_frame": 518, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up white bagged food from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the white bagged food from the shelf, rotate your waist, and place the white bagged food into the shopping cart."]}
{"task_id": "take_bagged_food_to_cart", "episode_index": 39, "video_path": "take_bagged_food_to_cart/videos/chunk-000/{video_key}/episode_000039.mp4", "tasks": ["Take bagged food to cart."], "length": 604, "action_config": [{"start_frame": 0, "end_frame": 216, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 216, "end_frame": 279, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 279, "end_frame": 345, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 345, "end_frame": 402, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up white bagged food from the shelf and rotated its waist."}, {"start_frame": 402, "end_frame": 468, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the white bagged food from the shelf and placed it into the shopping cart."}, {"start_frame": 468, "end_frame": 587, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up white bagged food from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the white bagged food from the shelf, rotate your waist, and place the white bagged food into the shopping cart."]}
{"task_id": "take_bagged_food_to_cart", "episode_index": 40, "video_path": "take_bagged_food_to_cart/videos/chunk-000/{video_key}/episode_000040.mp4", "tasks": ["Take bagged food to cart."], "length": 634, "action_config": [{"start_frame": 0, "end_frame": 174, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 174, "end_frame": 261, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 261, "end_frame": 345, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 345, "end_frame": 407, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up white bagged food from the shelf and rotated its waist."}, {"start_frame": 407, "end_frame": 498, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the white bagged food from the shelf and placed it into the shopping cart."}, {"start_frame": 498, "end_frame": 624, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up white bagged food from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the white bagged food from the shelf, rotate your waist, and place the white bagged food into the shopping cart."]}
{"task_id": "take_bagged_food_to_cart", "episode_index": 41, "video_path": "take_bagged_food_to_cart/videos/chunk-000/{video_key}/episode_000041.mp4", "tasks": ["Take bagged food to cart."], "length": 483, "action_config": [{"start_frame": 0, "end_frame": 123, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 123, "end_frame": 201, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 201, "end_frame": 269, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 269, "end_frame": 321, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up white bagged food from the shelf and rotated its waist."}, {"start_frame": 321, "end_frame": 410, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the white bagged food from the shelf and placed it into the shopping cart."}, {"start_frame": 410, "end_frame": 474, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up white bagged food from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the white bagged food from the shelf, rotate your waist, and place the white bagged food into the shopping cart."]}
{"task_id": "take_bagged_food_to_cart", "episode_index": 42, "video_path": "take_bagged_food_to_cart/videos/chunk-000/{video_key}/episode_000042.mp4", "tasks": ["Take bagged food to cart."], "length": 565, "action_config": [{"start_frame": 0, "end_frame": 137, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 137, "end_frame": 234, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 234, "end_frame": 317, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 317, "end_frame": 374, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up white bagged food from the shelf and rotated its waist."}, {"start_frame": 374, "end_frame": 453, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the white bagged food from the shelf and placed it into the shopping cart."}, {"start_frame": 453, "end_frame": 555, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up white bagged food from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the white bagged food from the shelf, rotate your waist, and place the white bagged food into the shopping cart."]}
{"task_id": "take_bagged_food_to_cart", "episode_index": 43, "video_path": "take_bagged_food_to_cart/videos/chunk-000/{video_key}/episode_000043.mp4", "tasks": ["Take bagged food to cart."], "length": 726, "action_config": [{"start_frame": 0, "end_frame": 207, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 207, "end_frame": 396, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 396, "end_frame": 476, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 476, "end_frame": 548, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up white bagged food from the shelf and rotated its waist."}, {"start_frame": 548, "end_frame": 617, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the white bagged food from the shelf and placed it into the shopping cart."}, {"start_frame": 617, "end_frame": 726, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up white bagged food from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the white bagged food from the shelf, rotate your waist, and place the white bagged food into the shopping cart."]}
{"task_id": "take_bagged_food_to_cart", "episode_index": 44, "video_path": "take_bagged_food_to_cart/videos/chunk-000/{video_key}/episode_000044.mp4", "tasks": ["Take bagged food to cart."], "length": 760, "action_config": [{"start_frame": 0, "end_frame": 255, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 255, "end_frame": 449, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 449, "end_frame": 530, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 530, "end_frame": 612, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up white bagged food from the shelf and rotated its waist."}, {"start_frame": 612, "end_frame": 696, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the white bagged food from the shelf and placed it into the shopping cart."}, {"start_frame": 696, "end_frame": 750, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up white bagged food from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the white bagged food from the shelf, rotate your waist, and place the white bagged food into the shopping cart."]}
{"task_id": "take_bagged_food_to_cart", "episode_index": 45, "video_path": "take_bagged_food_to_cart/videos/chunk-000/{video_key}/episode_000045.mp4", "tasks": ["Take bagged food to cart."], "length": 691, "action_config": [{"start_frame": 0, "end_frame": 228, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 228, "end_frame": 385, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 385, "end_frame": 471, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 471, "end_frame": 528, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up white bagged food from the shelf and rotated its waist."}, {"start_frame": 528, "end_frame": 576, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the white bagged food from the shelf and placed it into the shopping cart."}, {"start_frame": 576, "end_frame": 691, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up white bagged food from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the white bagged food from the shelf, rotate your waist, and place the white bagged food into the shopping cart."]}
{"task_id": "take_bagged_food_to_cart", "episode_index": 46, "video_path": "take_bagged_food_to_cart/videos/chunk-000/{video_key}/episode_000046.mp4", "tasks": ["Take bagged food to cart."], "length": 718, "action_config": [{"start_frame": 0, "end_frame": 203, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 203, "end_frame": 342, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 342, "end_frame": 428, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 428, "end_frame": 498, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up white bagged food from the shelf and rotated its waist."}, {"start_frame": 498, "end_frame": 587, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the white bagged food from the shelf and placed it into the shopping cart."}, {"start_frame": 587, "end_frame": 718, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up white bagged food from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the white bagged food from the shelf, rotate your waist, and place the white bagged food into the shopping cart."]}
{"task_id": "take_bagged_food_to_cart", "episode_index": 47, "video_path": "take_bagged_food_to_cart/videos/chunk-000/{video_key}/episode_000047.mp4", "tasks": ["Take bagged food to cart."], "length": 712, "action_config": [{"start_frame": 0, "end_frame": 171, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 171, "end_frame": 282, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 282, "end_frame": 365, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 365, "end_frame": 465, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up white bagged food from the shelf and rotated its waist."}, {"start_frame": 465, "end_frame": 566, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the white bagged food from the shelf and placed it into the shopping cart."}, {"start_frame": 566, "end_frame": 690, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up white bagged food from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the white bagged food from the shelf, rotate your waist, and place the white bagged food into the shopping cart."]}
{"task_id": "take_bagged_food_to_cart", "episode_index": 48, "video_path": "take_bagged_food_to_cart/videos/chunk-000/{video_key}/episode_000048.mp4", "tasks": ["Take bagged food to cart."], "length": 600, "action_config": [{"start_frame": 0, "end_frame": 227, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 227, "end_frame": 321, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 321, "end_frame": 402, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 402, "end_frame": 464, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up white bagged food from the shelf and rotated its waist."}, {"start_frame": 464, "end_frame": 537, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the white bagged food from the shelf and placed it into the shopping cart."}, {"start_frame": 537, "end_frame": 600, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up white bagged food from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the white bagged food from the shelf, rotate your waist, and place the white bagged food into the shopping cart."]}
{"task_id": "take_bagged_food_to_cart", "episode_index": 49, "video_path": "take_bagged_food_to_cart/videos/chunk-000/{video_key}/episode_000049.mp4", "tasks": ["Take bagged food to cart."], "length": 525, "action_config": [{"start_frame": 0, "end_frame": 162, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 162, "end_frame": 255, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 255, "end_frame": 311, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 311, "end_frame": 357, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up white bagged food from the shelf and rotated its waist."}, {"start_frame": 357, "end_frame": 456, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the white bagged food from the shelf and placed it into the shopping cart."}, {"start_frame": 456, "end_frame": 525, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up white bagged food from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the white bagged food from the shelf, rotate your waist, and place the white bagged food into the shopping cart."]}
{"task_id": "take_bagged_food_to_cart", "episode_index": 50, "video_path": "take_bagged_food_to_cart/videos/chunk-000/{video_key}/episode_000050.mp4", "tasks": ["Take bagged food to cart."], "length": 577, "action_config": [{"start_frame": 0, "end_frame": 177, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 177, "end_frame": 279, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 279, "end_frame": 381, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 381, "end_frame": 429, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up white bagged food from the shelf and rotated its waist."}, {"start_frame": 429, "end_frame": 503, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the white bagged food from the shelf and placed it into the shopping cart."}, {"start_frame": 503, "end_frame": 577, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up white bagged food from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the white bagged food from the shelf, rotate your waist, and place the white bagged food into the shopping cart."]}
{"task_id": "take_bagged_food_to_cart", "episode_index": 51, "video_path": "take_bagged_food_to_cart/videos/chunk-000/{video_key}/episode_000051.mp4", "tasks": ["Take bagged food to cart."], "length": 563, "action_config": [{"start_frame": 0, "end_frame": 210, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 210, "end_frame": 314, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 314, "end_frame": 375, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 375, "end_frame": 429, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up white bagged food from the shelf and rotated its waist."}, {"start_frame": 429, "end_frame": 482, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the white bagged food from the shelf and placed it into the shopping cart."}, {"start_frame": 482, "end_frame": 563, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up white bagged food from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the white bagged food from the shelf, rotate your waist, and place the white bagged food into the shopping cart."]}
{"task_id": "take_bagged_food_to_cart", "episode_index": 52, "video_path": "take_bagged_food_to_cart/videos/chunk-000/{video_key}/episode_000052.mp4", "tasks": ["Take bagged food to cart."], "length": 590, "action_config": [{"start_frame": 0, "end_frame": 156, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 156, "end_frame": 303, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 303, "end_frame": 368, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 368, "end_frame": 462, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up white bagged food from the shelf and rotated its waist."}, {"start_frame": 462, "end_frame": 524, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the white bagged food from the shelf and placed it into the shopping cart."}, {"start_frame": 524, "end_frame": 590, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up white bagged food from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the white bagged food from the shelf, rotate your waist, and place the white bagged food into the shopping cart."]}
{"task_id": "take_bagged_food_to_cart", "episode_index": 53, "video_path": "take_bagged_food_to_cart/videos/chunk-000/{video_key}/episode_000053.mp4", "tasks": ["Take bagged food to cart."], "length": 582, "action_config": [{"start_frame": 0, "end_frame": 194, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 194, "end_frame": 314, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 314, "end_frame": 374, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 374, "end_frame": 437, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up white bagged food from the shelf and rotated its waist."}, {"start_frame": 437, "end_frame": 513, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the white bagged food from the shelf and placed it into the shopping cart."}, {"start_frame": 513, "end_frame": 582, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up white bagged food from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the white bagged food from the shelf, rotate your waist, and place the white bagged food into the shopping cart."]}
{"task_id": "take_bagged_food_to_cart", "episode_index": 54, "video_path": "take_bagged_food_to_cart/videos/chunk-000/{video_key}/episode_000054.mp4", "tasks": ["Take bagged food to cart."], "length": 675, "action_config": [{"start_frame": 0, "end_frame": 213, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 213, "end_frame": 374, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 374, "end_frame": 459, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 459, "end_frame": 534, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up white bagged food from the shelf and rotated its waist."}, {"start_frame": 534, "end_frame": 621, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the white bagged food from the shelf and placed it into the shopping cart."}, {"start_frame": 621, "end_frame": 675, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up white bagged food from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the white bagged food from the shelf, rotate your waist, and place the white bagged food into the shopping cart."]}
{"task_id": "take_bagged_food_to_cart", "episode_index": 55, "video_path": "take_bagged_food_to_cart/videos/chunk-000/{video_key}/episode_000055.mp4", "tasks": ["Take bagged food to cart."], "length": 517, "action_config": [{"start_frame": 0, "end_frame": 162, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 162, "end_frame": 266, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 266, "end_frame": 333, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 333, "end_frame": 372, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up white bagged food from the shelf and rotated its waist."}, {"start_frame": 372, "end_frame": 438, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the white bagged food from the shelf and placed it into the shopping cart."}, {"start_frame": 438, "end_frame": 517, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up white bagged food from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the white bagged food from the shelf, rotate your waist, and place the white bagged food into the shopping cart."]}
{"task_id": "take_bagged_food_to_cart", "episode_index": 56, "video_path": "take_bagged_food_to_cart/videos/chunk-000/{video_key}/episode_000056.mp4", "tasks": ["Take bagged food to cart."], "length": 502, "action_config": [{"start_frame": 0, "end_frame": 149, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 149, "end_frame": 233, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 233, "end_frame": 294, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 294, "end_frame": 345, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up white bagged food from the shelf and rotated its waist."}, {"start_frame": 345, "end_frame": 423, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the white bagged food from the shelf and placed it into the shopping cart."}, {"start_frame": 423, "end_frame": 498, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up white bagged food from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the white bagged food from the shelf, rotate your waist, and place the white bagged food into the shopping cart."]}
{"task_id": "take_bagged_food_to_cart", "episode_index": 57, "video_path": "take_bagged_food_to_cart/videos/chunk-000/{video_key}/episode_000057.mp4", "tasks": ["Take bagged food to cart."], "length": 741, "action_config": [{"start_frame": 0, "end_frame": 195, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 195, "end_frame": 336, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 336, "end_frame": 434, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 434, "end_frame": 507, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up white bagged food from the shelf and rotated its waist."}, {"start_frame": 507, "end_frame": 627, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the white bagged food from the shelf and placed it into the shopping cart."}, {"start_frame": 627, "end_frame": 741, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up white bagged food from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the white bagged food from the shelf, rotate your waist, and place the white bagged food into the shopping cart."]}
{"task_id": "take_bagged_food_to_cart", "episode_index": 58, "video_path": "take_bagged_food_to_cart/videos/chunk-000/{video_key}/episode_000058.mp4", "tasks": ["Take bagged food to cart."], "length": 613, "action_config": [{"start_frame": 0, "end_frame": 201, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 201, "end_frame": 294, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 294, "end_frame": 366, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 366, "end_frame": 429, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up white bagged food from the shelf and rotated its waist."}, {"start_frame": 429, "end_frame": 522, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the white bagged food from the shelf and placed it into the shopping cart."}, {"start_frame": 522, "end_frame": 613, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up white bagged food from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the white bagged food from the shelf, rotate your waist, and place the white bagged food into the shopping cart."]}
{"task_id": "take_bagged_food_to_cart", "episode_index": 59, "video_path": "take_bagged_food_to_cart/videos/chunk-000/{video_key}/episode_000059.mp4", "tasks": ["Take bagged food to cart."], "length": 489, "action_config": [{"start_frame": 0, "end_frame": 135, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 135, "end_frame": 224, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 224, "end_frame": 300, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 300, "end_frame": 366, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up white bagged food from the shelf and rotated its waist."}, {"start_frame": 366, "end_frame": 409, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the white bagged food from the shelf and placed it into the shopping cart."}, {"start_frame": 409, "end_frame": 489, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up white bagged food from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the white bagged food from the shelf, rotate your waist, and place the white bagged food into the shopping cart."]}
{"task_id": "take_bagged_food_to_cart", "episode_index": 60, "video_path": "take_bagged_food_to_cart/videos/chunk-000/{video_key}/episode_000060.mp4", "tasks": ["Take bagged food to cart."], "length": 571, "action_config": [{"start_frame": 0, "end_frame": 192, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 192, "end_frame": 312, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 312, "end_frame": 374, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 374, "end_frame": 420, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up white bagged food from the shelf and rotated its waist."}, {"start_frame": 420, "end_frame": 497, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the white bagged food from the shelf and placed it into the shopping cart."}, {"start_frame": 497, "end_frame": 571, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up white bagged food from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the white bagged food from the shelf, rotate your waist, and place the white bagged food into the shopping cart."]}
{"task_id": "take_bagged_food_to_cart", "episode_index": 61, "video_path": "take_bagged_food_to_cart/videos/chunk-000/{video_key}/episode_000061.mp4", "tasks": ["Take bagged food to cart."], "length": 516, "action_config": [{"start_frame": 0, "end_frame": 121, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 121, "end_frame": 219, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 219, "end_frame": 279, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 279, "end_frame": 353, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up white bagged food from the shelf and rotated its waist."}, {"start_frame": 353, "end_frame": 423, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the white bagged food from the shelf and placed it into the shopping cart."}, {"start_frame": 423, "end_frame": 510, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up white bagged food from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the white bagged food from the shelf, rotate your waist, and place the white bagged food into the shopping cart."]}
{"task_id": "take_bagged_food_to_cart", "episode_index": 62, "video_path": "take_bagged_food_to_cart/videos/chunk-000/{video_key}/episode_000062.mp4", "tasks": ["Take bagged food to cart."], "length": 627, "action_config": [{"start_frame": 0, "end_frame": 168, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 168, "end_frame": 276, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 276, "end_frame": 348, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 348, "end_frame": 405, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up white bagged food from the shelf and rotated its waist."}, {"start_frame": 405, "end_frame": 495, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the white bagged food from the shelf and placed it into the shopping cart."}, {"start_frame": 495, "end_frame": 618, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up white bagged food from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the white bagged food from the shelf, rotate your waist, and place the white bagged food into the shopping cart."]}
{"task_id": "take_bagged_food_to_cart", "episode_index": 63, "video_path": "take_bagged_food_to_cart/videos/chunk-000/{video_key}/episode_000063.mp4", "tasks": ["Take bagged food to cart."], "length": 619, "action_config": [{"start_frame": 0, "end_frame": 140, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 140, "end_frame": 285, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 285, "end_frame": 390, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 390, "end_frame": 447, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up white bagged food from the shelf and rotated its waist."}, {"start_frame": 447, "end_frame": 498, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the white bagged food from the shelf and placed it into the shopping cart."}, {"start_frame": 498, "end_frame": 606, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up white bagged food from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the white bagged food from the shelf, rotate your waist, and place the white bagged food into the shopping cart."]}
{"task_id": "take_bagged_food_to_cart", "episode_index": 64, "video_path": "take_bagged_food_to_cart/videos/chunk-000/{video_key}/episode_000064.mp4", "tasks": ["Take bagged food to cart."], "length": 424, "action_config": [{"start_frame": 0, "end_frame": 119, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 119, "end_frame": 224, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 224, "end_frame": 273, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 273, "end_frame": 309, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up white bagged food from the shelf and rotated its waist."}, {"start_frame": 309, "end_frame": 392, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the white bagged food from the shelf and placed it into the shopping cart."}, {"start_frame": 392, "end_frame": 424, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up white bagged food from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the white bagged food from the shelf, rotate your waist, and place the white bagged food into the shopping cart."]}
{"task_id": "take_bagged_food_to_cart", "episode_index": 65, "video_path": "take_bagged_food_to_cart/videos/chunk-000/{video_key}/episode_000065.mp4", "tasks": ["Take bagged food to cart."], "length": 542, "action_config": [{"start_frame": 0, "end_frame": 164, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 164, "end_frame": 273, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 273, "end_frame": 350, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 350, "end_frame": 410, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up white bagged food from the shelf and rotated its waist."}, {"start_frame": 410, "end_frame": 467, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the white bagged food from the shelf and placed it into the shopping cart."}, {"start_frame": 467, "end_frame": 542, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up white bagged food from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the white bagged food from the shelf, rotate your waist, and place the white bagged food into the shopping cart."]}
{"task_id": "take_bagged_food_to_cart", "episode_index": 66, "video_path": "take_bagged_food_to_cart/videos/chunk-000/{video_key}/episode_000066.mp4", "tasks": ["Take bagged food to cart."], "length": 677, "action_config": [{"start_frame": 0, "end_frame": 270, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 270, "end_frame": 371, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 371, "end_frame": 434, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 434, "end_frame": 518, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up white bagged food from the shelf and rotated its waist."}, {"start_frame": 518, "end_frame": 597, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the white bagged food from the shelf and placed it into the shopping cart."}, {"start_frame": 597, "end_frame": 677, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up white bagged food from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the white bagged food from the shelf, rotate your waist, and place the white bagged food into the shopping cart."]}
{"task_id": "take_bagged_food_to_cart", "episode_index": 67, "video_path": "take_bagged_food_to_cart/videos/chunk-000/{video_key}/episode_000067.mp4", "tasks": ["Take bagged food to cart."], "length": 466, "action_config": [{"start_frame": 0, "end_frame": 162, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 162, "end_frame": 231, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 231, "end_frame": 297, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 297, "end_frame": 347, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up white bagged food from the shelf and rotated its waist."}, {"start_frame": 347, "end_frame": 402, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the white bagged food from the shelf and placed it into the shopping cart."}, {"start_frame": 402, "end_frame": 466, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up white bagged food from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the white bagged food from the shelf, rotate your waist, and place the white bagged food into the shopping cart."]}
{"task_id": "take_bagged_food_to_cart", "episode_index": 68, "video_path": "take_bagged_food_to_cart/videos/chunk-000/{video_key}/episode_000068.mp4", "tasks": ["Take bagged food to cart."], "length": 540, "action_config": [{"start_frame": 0, "end_frame": 166, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 166, "end_frame": 266, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 266, "end_frame": 333, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 333, "end_frame": 375, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up white bagged food from the shelf and rotated its waist."}, {"start_frame": 375, "end_frame": 465, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the white bagged food from the shelf and placed it into the shopping cart."}, {"start_frame": 465, "end_frame": 530, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up white bagged food from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the white bagged food from the shelf, rotate your waist, and place the white bagged food into the shopping cart."]}
{"task_id": "take_bagged_food_to_cart", "episode_index": 69, "video_path": "take_bagged_food_to_cart/videos/chunk-000/{video_key}/episode_000069.mp4", "tasks": ["Take bagged food to cart."], "length": 567, "action_config": [{"start_frame": 0, "end_frame": 191, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 191, "end_frame": 294, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 294, "end_frame": 363, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 363, "end_frame": 419, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up white bagged food from the shelf and rotated its waist."}, {"start_frame": 419, "end_frame": 480, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the white bagged food from the shelf and placed it into the shopping cart."}, {"start_frame": 480, "end_frame": 567, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up white bagged food from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the white bagged food from the shelf, rotate your waist, and place the white bagged food into the shopping cart."]}
{"task_id": "take_bagged_food_to_cart", "episode_index": 70, "video_path": "take_bagged_food_to_cart/videos/chunk-000/{video_key}/episode_000070.mp4", "tasks": ["Take bagged food to cart."], "length": 528, "action_config": [{"start_frame": 0, "end_frame": 150, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 150, "end_frame": 263, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 263, "end_frame": 332, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 332, "end_frame": 381, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up white bagged food from the shelf and rotated its waist."}, {"start_frame": 381, "end_frame": 440, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the white bagged food from the shelf and placed it into the shopping cart."}, {"start_frame": 440, "end_frame": 528, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up white bagged food from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the white bagged food from the shelf, rotate your waist, and place the white bagged food into the shopping cart."]}
{"task_id": "take_bagged_food_to_cart", "episode_index": 71, "video_path": "take_bagged_food_to_cart/videos/chunk-000/{video_key}/episode_000071.mp4", "tasks": ["Take bagged food to cart."], "length": 694, "action_config": [{"start_frame": 0, "end_frame": 285, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 285, "end_frame": 426, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 426, "end_frame": 489, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 489, "end_frame": 540, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up white bagged food from the shelf and rotated its waist."}, {"start_frame": 540, "end_frame": 618, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the white bagged food from the shelf and placed it into the shopping cart."}, {"start_frame": 618, "end_frame": 694, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up white bagged food from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the white bagged food from the shelf, rotate your waist, and place the white bagged food into the shopping cart."]}
{"task_id": "take_bagged_food_to_cart", "episode_index": 72, "video_path": "take_bagged_food_to_cart/videos/chunk-000/{video_key}/episode_000072.mp4", "tasks": ["Take bagged food to cart."], "length": 559, "action_config": [{"start_frame": 0, "end_frame": 174, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 174, "end_frame": 282, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 282, "end_frame": 345, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 345, "end_frame": 390, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up white bagged food from the shelf and rotated its waist."}, {"start_frame": 390, "end_frame": 471, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the white bagged food from the shelf and placed it into the shopping cart."}, {"start_frame": 471, "end_frame": 545, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up white bagged food from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the white bagged food from the shelf, rotate your waist, and place the white bagged food into the shopping cart."]}
{"task_id": "take_bagged_food_to_cart", "episode_index": 73, "video_path": "take_bagged_food_to_cart/videos/chunk-000/{video_key}/episode_000073.mp4", "tasks": ["Take bagged food to cart."], "length": 580, "action_config": [{"start_frame": 0, "end_frame": 174, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 174, "end_frame": 264, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 264, "end_frame": 333, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 333, "end_frame": 394, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up white bagged food from the shelf and rotated its waist."}, {"start_frame": 394, "end_frame": 522, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the white bagged food from the shelf and placed it into the shopping cart."}, {"start_frame": 522, "end_frame": 580, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up white bagged food from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the white bagged food from the shelf, rotate your waist, and place the white bagged food into the shopping cart."]}
{"task_id": "take_bagged_food_to_cart", "episode_index": 74, "video_path": "take_bagged_food_to_cart/videos/chunk-000/{video_key}/episode_000074.mp4", "tasks": ["Take bagged food to cart."], "length": 699, "action_config": [{"start_frame": 0, "end_frame": 202, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 202, "end_frame": 357, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 357, "end_frame": 430, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 430, "end_frame": 524, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up white bagged food from the shelf and rotated its waist."}, {"start_frame": 524, "end_frame": 583, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the white bagged food from the shelf and placed it into the shopping cart."}, {"start_frame": 583, "end_frame": 690, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up white bagged food from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the white bagged food from the shelf, rotate your waist, and place the white bagged food into the shopping cart."]}
{"task_id": "take_bagged_food_to_cart", "episode_index": 75, "video_path": "take_bagged_food_to_cart/videos/chunk-000/{video_key}/episode_000075.mp4", "tasks": ["Take bagged food to cart."], "length": 566, "action_config": [{"start_frame": 0, "end_frame": 149, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 149, "end_frame": 229, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 229, "end_frame": 322, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 322, "end_frame": 390, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up white bagged food from the shelf and rotated its waist."}, {"start_frame": 390, "end_frame": 472, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the white bagged food from the shelf and placed it into the shopping cart."}, {"start_frame": 472, "end_frame": 566, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up white bagged food from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the white bagged food from the shelf, rotate your waist, and place the white bagged food into the shopping cart."]}
{"task_id": "take_bagged_food_to_cart", "episode_index": 76, "video_path": "take_bagged_food_to_cart/videos/chunk-000/{video_key}/episode_000076.mp4", "tasks": ["Take bagged food to cart."], "length": 504, "action_config": [{"start_frame": 0, "end_frame": 138, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 138, "end_frame": 262, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 262, "end_frame": 329, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 329, "end_frame": 370, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up white bagged food from the shelf and rotated its waist."}, {"start_frame": 370, "end_frame": 466, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the white bagged food from the shelf and placed it into the shopping cart."}, {"start_frame": 466, "end_frame": 504, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up white bagged food from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the white bagged food from the shelf, rotate your waist, and place the white bagged food into the shopping cart."]}
{"task_id": "take_bagged_food_to_cart", "episode_index": 77, "video_path": "take_bagged_food_to_cart/videos/chunk-000/{video_key}/episode_000077.mp4", "tasks": ["Take bagged food to cart."], "length": 589, "action_config": [{"start_frame": 0, "end_frame": 169, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 169, "end_frame": 277, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 277, "end_frame": 357, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 357, "end_frame": 421, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up white bagged food from the shelf and rotated its waist."}, {"start_frame": 421, "end_frame": 546, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the white bagged food from the shelf and placed it into the shopping cart."}, {"start_frame": 546, "end_frame": 589, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up white bagged food from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the white bagged food from the shelf, rotate your waist, and place the white bagged food into the shopping cart."]}
{"task_id": "take_bagged_food_to_cart", "episode_index": 78, "video_path": "take_bagged_food_to_cart/videos/chunk-000/{video_key}/episode_000078.mp4", "tasks": ["Take bagged food to cart."], "length": 781, "action_config": [{"start_frame": 0, "end_frame": 228, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 228, "end_frame": 354, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 354, "end_frame": 442, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 442, "end_frame": 574, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up white bagged food from the shelf and rotated its waist."}, {"start_frame": 574, "end_frame": 732, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the white bagged food from the shelf and placed it into the shopping cart."}, {"start_frame": 732, "end_frame": 781, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up white bagged food from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the white bagged food from the shelf, rotate your waist, and place the white bagged food into the shopping cart."]}
{"task_id": "take_bagged_food_to_cart", "episode_index": 79, "video_path": "take_bagged_food_to_cart/videos/chunk-000/{video_key}/episode_000079.mp4", "tasks": ["Take bagged food to cart."], "length": 696, "action_config": [{"start_frame": 0, "end_frame": 254, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 254, "end_frame": 385, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 385, "end_frame": 469, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 469, "end_frame": 529, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up white bagged food from the shelf and rotated its waist."}, {"start_frame": 529, "end_frame": 657, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the white bagged food from the shelf and placed it into the shopping cart."}, {"start_frame": 657, "end_frame": 696, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up white bagged food from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the white bagged food from the shelf, rotate your waist, and place the white bagged food into the shopping cart."]}
{"task_id": "take_bagged_food_to_cart", "episode_index": 80, "video_path": "take_bagged_food_to_cart/videos/chunk-000/{video_key}/episode_000080.mp4", "tasks": ["Take bagged food to cart."], "length": 529, "action_config": [{"start_frame": 0, "end_frame": 162, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 162, "end_frame": 257, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 257, "end_frame": 326, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 326, "end_frame": 381, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up white bagged food from the shelf and rotated its waist."}, {"start_frame": 381, "end_frame": 465, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the white bagged food from the shelf and placed it into the shopping cart."}, {"start_frame": 465, "end_frame": 516, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up white bagged food from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the white bagged food from the shelf, rotate your waist, and place the white bagged food into the shopping cart."]}
{"task_id": "take_bagged_food_to_cart", "episode_index": 81, "video_path": "take_bagged_food_to_cart/videos/chunk-000/{video_key}/episode_000081.mp4", "tasks": ["Take bagged food to cart."], "length": 513, "action_config": [{"start_frame": 0, "end_frame": 147, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 147, "end_frame": 245, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 245, "end_frame": 307, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 307, "end_frame": 356, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up white bagged food from the shelf and rotated its waist."}, {"start_frame": 356, "end_frame": 477, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the white bagged food from the shelf and placed it into the shopping cart."}, {"start_frame": 477, "end_frame": 513, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up white bagged food from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the white bagged food from the shelf, rotate your waist, and place the white bagged food into the shopping cart."]}
{"task_id": "take_bagged_food_to_cart", "episode_index": 82, "video_path": "take_bagged_food_to_cart/videos/chunk-000/{video_key}/episode_000082.mp4", "tasks": ["Take bagged food to cart."], "length": 400, "action_config": [{"start_frame": 0, "end_frame": 108, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 108, "end_frame": 180, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 180, "end_frame": 247, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 247, "end_frame": 276, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up white bagged food from the shelf and rotated its waist."}, {"start_frame": 276, "end_frame": 334, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the white bagged food from the shelf and placed it into the shopping cart."}, {"start_frame": 334, "end_frame": 400, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up white bagged food from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the white bagged food from the shelf, rotate your waist, and place the white bagged food into the shopping cart."]}
{"task_id": "take_bagged_food_to_cart", "episode_index": 83, "video_path": "take_bagged_food_to_cart/videos/chunk-000/{video_key}/episode_000083.mp4", "tasks": ["Take bagged food to cart."], "length": 635, "action_config": [{"start_frame": 0, "end_frame": 179, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 179, "end_frame": 284, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 284, "end_frame": 356, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 356, "end_frame": 423, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up white bagged food from the shelf and rotated its waist."}, {"start_frame": 423, "end_frame": 552, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the white bagged food from the shelf and placed it into the shopping cart."}, {"start_frame": 552, "end_frame": 613, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up white bagged food from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the white bagged food from the shelf, rotate your waist, and place the white bagged food into the shopping cart."]}
{"task_id": "take_bagged_food_to_cart", "episode_index": 84, "video_path": "take_bagged_food_to_cart/videos/chunk-000/{video_key}/episode_000084.mp4", "tasks": ["Take bagged food to cart."], "length": 561, "action_config": [{"start_frame": 0, "end_frame": 162, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 162, "end_frame": 284, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 284, "end_frame": 357, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 357, "end_frame": 408, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up white bagged food from the shelf and rotated its waist."}, {"start_frame": 408, "end_frame": 477, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the white bagged food from the shelf and placed it into the shopping cart."}, {"start_frame": 477, "end_frame": 561, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up white bagged food from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the white bagged food from the shelf, rotate your waist, and place the white bagged food into the shopping cart."]}
{"task_id": "take_bagged_food_to_cart", "episode_index": 85, "video_path": "take_bagged_food_to_cart/videos/chunk-000/{video_key}/episode_000085.mp4", "tasks": ["Take bagged food to cart."], "length": 519, "action_config": [{"start_frame": 0, "end_frame": 141, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 141, "end_frame": 258, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 258, "end_frame": 327, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 327, "end_frame": 390, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up white bagged food from the shelf and rotated its waist."}, {"start_frame": 390, "end_frame": 456, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the white bagged food from the shelf and placed it into the shopping cart."}, {"start_frame": 456, "end_frame": 519, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up white bagged food from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the white bagged food from the shelf, rotate your waist, and place the white bagged food into the shopping cart."]}
{"task_id": "take_bagged_food_to_cart", "episode_index": 86, "video_path": "take_bagged_food_to_cart/videos/chunk-000/{video_key}/episode_000086.mp4", "tasks": ["Take bagged food to cart."], "length": 540, "action_config": [{"start_frame": 0, "end_frame": 153, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 153, "end_frame": 258, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 258, "end_frame": 317, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 317, "end_frame": 360, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up white bagged food from the shelf and rotated its waist."}, {"start_frame": 360, "end_frame": 443, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the white bagged food from the shelf and placed it into the shopping cart."}, {"start_frame": 443, "end_frame": 540, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up white bagged food from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the white bagged food from the shelf, rotate your waist, and place the white bagged food into the shopping cart."]}
{"task_id": "take_bagged_food_to_cart", "episode_index": 87, "video_path": "take_bagged_food_to_cart/videos/chunk-000/{video_key}/episode_000087.mp4", "tasks": ["Take bagged food to cart."], "length": 626, "action_config": [{"start_frame": 0, "end_frame": 186, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 186, "end_frame": 308, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 308, "end_frame": 398, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 398, "end_frame": 474, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up white bagged food from the shelf and rotated its waist."}, {"start_frame": 474, "end_frame": 522, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the white bagged food from the shelf and placed it into the shopping cart."}, {"start_frame": 522, "end_frame": 626, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up white bagged food from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the white bagged food from the shelf, rotate your waist, and place the white bagged food into the shopping cart."]}
{"task_id": "take_bagged_food_to_cart", "episode_index": 88, "video_path": "take_bagged_food_to_cart/videos/chunk-000/{video_key}/episode_000088.mp4", "tasks": ["Take bagged food to cart."], "length": 513, "action_config": [{"start_frame": 0, "end_frame": 149, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 149, "end_frame": 236, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 236, "end_frame": 309, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 309, "end_frame": 369, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up white bagged food from the shelf and rotated its waist."}, {"start_frame": 369, "end_frame": 447, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the white bagged food from the shelf and placed it into the shopping cart."}, {"start_frame": 447, "end_frame": 513, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up white bagged food from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the white bagged food from the shelf, rotate your waist, and place the white bagged food into the shopping cart."]}
{"task_id": "take_bagged_food_to_cart", "episode_index": 89, "video_path": "take_bagged_food_to_cart/videos/chunk-000/{video_key}/episode_000089.mp4", "tasks": ["Take bagged food to cart."], "length": 850, "action_config": [{"start_frame": 0, "end_frame": 237, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 237, "end_frame": 393, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 393, "end_frame": 485, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 485, "end_frame": 561, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up white bagged food from the shelf and rotated its waist."}, {"start_frame": 561, "end_frame": 690, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the white bagged food from the shelf and placed it into the shopping cart."}, {"start_frame": 690, "end_frame": 850, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up white bagged food from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the white bagged food from the shelf, rotate your waist, and place the white bagged food into the shopping cart."]}
{"task_id": "take_bagged_food_to_cart", "episode_index": 90, "video_path": "take_bagged_food_to_cart/videos/chunk-000/{video_key}/episode_000090.mp4", "tasks": ["Take bagged food to cart."], "length": 523, "action_config": [{"start_frame": 0, "end_frame": 146, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 146, "end_frame": 239, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 239, "end_frame": 321, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 321, "end_frame": 390, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up white bagged food from the shelf and rotated its waist."}, {"start_frame": 390, "end_frame": 458, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the white bagged food from the shelf and placed it into the shopping cart."}, {"start_frame": 458, "end_frame": 523, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up white bagged food from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the white bagged food from the shelf, rotate your waist, and place the white bagged food into the shopping cart."]}
{"task_id": "take_bagged_food_to_cart", "episode_index": 91, "video_path": "take_bagged_food_to_cart/videos/chunk-000/{video_key}/episode_000091.mp4", "tasks": ["Take bagged food to cart."], "length": 472, "action_config": [{"start_frame": 0, "end_frame": 155, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 155, "end_frame": 255, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 255, "end_frame": 315, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 315, "end_frame": 339, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up white bagged food from the shelf and rotated its waist."}, {"start_frame": 339, "end_frame": 411, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the white bagged food from the shelf and placed it into the shopping cart."}, {"start_frame": 411, "end_frame": 472, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up white bagged food from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the white bagged food from the shelf, rotate your waist, and place the white bagged food into the shopping cart."]}
{"task_id": "take_bagged_food_to_cart", "episode_index": 92, "video_path": "take_bagged_food_to_cart/videos/chunk-000/{video_key}/episode_000092.mp4", "tasks": ["Take bagged food to cart."], "length": 560, "action_config": [{"start_frame": 0, "end_frame": 183, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 183, "end_frame": 269, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 269, "end_frame": 318, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 318, "end_frame": 424, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up white bagged food from the shelf and rotated its waist."}, {"start_frame": 424, "end_frame": 503, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the white bagged food from the shelf and placed it into the shopping cart."}, {"start_frame": 503, "end_frame": 551, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up white bagged food from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the white bagged food from the shelf, rotate your waist, and place the white bagged food into the shopping cart."]}
{"task_id": "take_bagged_food_to_cart", "episode_index": 93, "video_path": "take_bagged_food_to_cart/videos/chunk-000/{video_key}/episode_000093.mp4", "tasks": ["Take bagged food to cart."], "length": 618, "action_config": [{"start_frame": 0, "end_frame": 213, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 213, "end_frame": 335, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 335, "end_frame": 393, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 393, "end_frame": 485, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up white bagged food from the shelf and rotated its waist."}, {"start_frame": 485, "end_frame": 558, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the white bagged food from the shelf and placed it into the shopping cart."}, {"start_frame": 558, "end_frame": 618, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up white bagged food from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the white bagged food from the shelf, rotate your waist, and place the white bagged food into the shopping cart."]}
{"task_id": "take_bagged_food_to_cart", "episode_index": 94, "video_path": "take_bagged_food_to_cart/videos/chunk-000/{video_key}/episode_000094.mp4", "tasks": ["Take bagged food to cart."], "length": 434, "action_config": [{"start_frame": 0, "end_frame": 119, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 119, "end_frame": 193, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 193, "end_frame": 261, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 261, "end_frame": 300, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up white bagged food from the shelf and rotated its waist."}, {"start_frame": 300, "end_frame": 359, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the white bagged food from the shelf and placed it into the shopping cart."}, {"start_frame": 359, "end_frame": 418, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up white bagged food from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the white bagged food from the shelf, rotate your waist, and place the white bagged food into the shopping cart."]}
{"task_id": "take_bagged_food_to_cart", "episode_index": 95, "video_path": "take_bagged_food_to_cart/videos/chunk-000/{video_key}/episode_000095.mp4", "tasks": ["Take bagged food to cart."], "length": 752, "action_config": [{"start_frame": 0, "end_frame": 249, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 249, "end_frame": 396, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 396, "end_frame": 477, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 477, "end_frame": 540, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up white bagged food from the shelf and rotated its waist."}, {"start_frame": 540, "end_frame": 692, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the white bagged food from the shelf and placed it into the shopping cart."}, {"start_frame": 692, "end_frame": 747, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up white bagged food from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the white bagged food from the shelf, rotate your waist, and place the white bagged food into the shopping cart."]}
{"task_id": "take_bagged_food_to_cart", "episode_index": 96, "video_path": "take_bagged_food_to_cart/videos/chunk-000/{video_key}/episode_000096.mp4", "tasks": ["Take bagged food to cart."], "length": 709, "action_config": [{"start_frame": 0, "end_frame": 198, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 198, "end_frame": 321, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 321, "end_frame": 420, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 420, "end_frame": 507, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up white bagged food from the shelf and rotated its waist."}, {"start_frame": 507, "end_frame": 663, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the white bagged food from the shelf and placed it into the shopping cart."}, {"start_frame": 663, "end_frame": 698, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up white bagged food from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the white bagged food from the shelf, rotate your waist, and place the white bagged food into the shopping cart."]}
{"task_id": "take_bagged_food_to_cart", "episode_index": 97, "video_path": "take_bagged_food_to_cart/videos/chunk-000/{video_key}/episode_000097.mp4", "tasks": ["Take bagged food to cart."], "length": 530, "action_config": [{"start_frame": 0, "end_frame": 177, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 177, "end_frame": 275, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 275, "end_frame": 329, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 329, "end_frame": 379, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up white bagged food from the shelf and rotated its waist."}, {"start_frame": 379, "end_frame": 451, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the white bagged food from the shelf and placed it into the shopping cart."}, {"start_frame": 451, "end_frame": 508, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up white bagged food from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the white bagged food from the shelf, rotate your waist, and place the white bagged food into the shopping cart."]}
{"task_id": "take_bagged_food_to_cart", "episode_index": 98, "video_path": "take_bagged_food_to_cart/videos/chunk-000/{video_key}/episode_000098.mp4", "tasks": ["Take bagged food to cart."], "length": 399, "action_config": [{"start_frame": 0, "end_frame": 99, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 99, "end_frame": 180, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 180, "end_frame": 226, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 226, "end_frame": 270, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up white bagged food from the shelf and rotated its waist."}, {"start_frame": 270, "end_frame": 362, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the white bagged food from the shelf and placed it into the shopping cart."}, {"start_frame": 362, "end_frame": 390, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up white bagged food from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the white bagged food from the shelf, rotate your waist, and place the white bagged food into the shopping cart."]}
{"task_id": "take_bagged_food_to_cart", "episode_index": 99, "video_path": "take_bagged_food_to_cart/videos/chunk-000/{video_key}/episode_000099.mp4", "tasks": ["Take bagged food to cart."], "length": 548, "action_config": [{"start_frame": 0, "end_frame": 150, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 150, "end_frame": 257, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 257, "end_frame": 327, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 327, "end_frame": 381, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up white bagged food from the shelf and rotated its waist."}, {"start_frame": 381, "end_frame": 509, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the white bagged food from the shelf and placed it into the shopping cart."}, {"start_frame": 509, "end_frame": 548, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up white bagged food from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the white bagged food from the shelf, rotate your waist, and place the white bagged food into the shopping cart."]}
{"task_id": "take_bagged_food_to_cart", "episode_index": 100, "video_path": "take_bagged_food_to_cart/videos/chunk-000/{video_key}/episode_000100.mp4", "tasks": ["Take bagged food to cart."], "length": 550, "action_config": [{"start_frame": 0, "end_frame": 141, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 141, "end_frame": 256, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 256, "end_frame": 327, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 327, "end_frame": 383, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up white bagged food from the shelf and rotated its waist."}, {"start_frame": 383, "end_frame": 504, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the white bagged food from the shelf and placed it into the shopping cart."}, {"start_frame": 504, "end_frame": 550, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up white bagged food from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the white bagged food from the shelf, rotate your waist, and place the white bagged food into the shopping cart."]}
{"task_id": "take_bagged_food_to_cart", "episode_index": 101, "video_path": "take_bagged_food_to_cart/videos/chunk-000/{video_key}/episode_000101.mp4", "tasks": ["Take bagged food to cart."], "length": 532, "action_config": [{"start_frame": 0, "end_frame": 143, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 143, "end_frame": 243, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 243, "end_frame": 306, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 306, "end_frame": 366, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up white bagged food from the shelf and rotated its waist."}, {"start_frame": 366, "end_frame": 479, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the white bagged food from the shelf and placed it into the shopping cart."}, {"start_frame": 479, "end_frame": 516, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up white bagged food from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the white bagged food from the shelf, rotate your waist, and place the white bagged food into the shopping cart."]}
{"task_id": "take_bagged_food_to_cart", "episode_index": 102, "video_path": "take_bagged_food_to_cart/videos/chunk-000/{video_key}/episode_000102.mp4", "tasks": ["Take bagged food to cart."], "length": 557, "action_config": [{"start_frame": 0, "end_frame": 152, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 152, "end_frame": 255, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 255, "end_frame": 336, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 336, "end_frame": 390, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up white bagged food from the shelf and rotated its waist."}, {"start_frame": 390, "end_frame": 515, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the white bagged food from the shelf and placed it into the shopping cart."}, {"start_frame": 515, "end_frame": 543, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up white bagged food from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the white bagged food from the shelf, rotate your waist, and place the white bagged food into the shopping cart."]}
{"task_id": "take_bagged_food_to_cart", "episode_index": 103, "video_path": "take_bagged_food_to_cart/videos/chunk-000/{video_key}/episode_000103.mp4", "tasks": ["Take bagged food to cart."], "length": 647, "action_config": [{"start_frame": 0, "end_frame": 176, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 176, "end_frame": 320, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 320, "end_frame": 386, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 386, "end_frame": 450, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up white bagged food from the shelf and rotated its waist."}, {"start_frame": 450, "end_frame": 605, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the white bagged food from the shelf and placed it into the shopping cart."}, {"start_frame": 605, "end_frame": 642, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up white bagged food from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the white bagged food from the shelf, rotate your waist, and place the white bagged food into the shopping cart."]}
{"task_id": "take_bagged_food_to_cart", "episode_index": 104, "video_path": "take_bagged_food_to_cart/videos/chunk-000/{video_key}/episode_000104.mp4", "tasks": ["Take bagged food to cart."], "length": 615, "action_config": [{"start_frame": 0, "end_frame": 201, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 201, "end_frame": 333, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 333, "end_frame": 395, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 395, "end_frame": 453, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up white bagged food from the shelf and rotated its waist."}, {"start_frame": 453, "end_frame": 570, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the white bagged food from the shelf and placed it into the shopping cart."}, {"start_frame": 570, "end_frame": 615, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up white bagged food from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the white bagged food from the shelf, rotate your waist, and place the white bagged food into the shopping cart."]}
{"task_id": "take_bagged_food_to_cart", "episode_index": 105, "video_path": "take_bagged_food_to_cart/videos/chunk-000/{video_key}/episode_000105.mp4", "tasks": ["Take bagged food to cart."], "length": 612, "action_config": [{"start_frame": 0, "end_frame": 195, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 195, "end_frame": 324, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 324, "end_frame": 375, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 375, "end_frame": 438, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up white bagged food from the shelf and rotated its waist."}, {"start_frame": 438, "end_frame": 576, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the white bagged food from the shelf and placed it into the shopping cart."}, {"start_frame": 576, "end_frame": 612, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up white bagged food from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the white bagged food from the shelf, rotate your waist, and place the white bagged food into the shopping cart."]}
{"task_id": "take_bagged_food_to_cart", "episode_index": 106, "video_path": "take_bagged_food_to_cart/videos/chunk-000/{video_key}/episode_000106.mp4", "tasks": ["Take bagged food to cart."], "length": 691, "action_config": [{"start_frame": 0, "end_frame": 255, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 255, "end_frame": 408, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 408, "end_frame": 479, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 479, "end_frame": 540, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up white bagged food from the shelf and rotated its waist."}, {"start_frame": 540, "end_frame": 650, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the white bagged food from the shelf and placed it into the shopping cart."}, {"start_frame": 650, "end_frame": 691, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up white bagged food from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the white bagged food from the shelf, rotate your waist, and place the white bagged food into the shopping cart."]}
{"task_id": "take_bagged_food_to_cart", "episode_index": 107, "video_path": "take_bagged_food_to_cart/videos/chunk-000/{video_key}/episode_000107.mp4", "tasks": ["Take bagged food to cart."], "length": 532, "action_config": [{"start_frame": 0, "end_frame": 138, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 138, "end_frame": 260, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 260, "end_frame": 316, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 316, "end_frame": 360, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up white bagged food from the shelf and rotated its waist."}, {"start_frame": 360, "end_frame": 483, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the white bagged food from the shelf and placed it into the shopping cart."}, {"start_frame": 483, "end_frame": 516, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up white bagged food from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the white bagged food from the shelf, rotate your waist, and place the white bagged food into the shopping cart."]}
{"task_id": "take_bagged_food_to_cart", "episode_index": 108, "video_path": "take_bagged_food_to_cart/videos/chunk-000/{video_key}/episode_000108.mp4", "tasks": ["Take bagged food to cart."], "length": 793, "action_config": [{"start_frame": 0, "end_frame": 302, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 302, "end_frame": 446, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 446, "end_frame": 524, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 524, "end_frame": 598, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up white bagged food from the shelf and rotated its waist."}, {"start_frame": 598, "end_frame": 744, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the white bagged food from the shelf and placed it into the shopping cart."}, {"start_frame": 744, "end_frame": 793, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up white bagged food from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the white bagged food from the shelf, rotate your waist, and place the white bagged food into the shopping cart."]}
{"task_id": "take_bagged_food_to_cart", "episode_index": 109, "video_path": "take_bagged_food_to_cart/videos/chunk-000/{video_key}/episode_000109.mp4", "tasks": ["Take bagged food to cart."], "length": 450, "action_config": [{"start_frame": 0, "end_frame": 136, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 136, "end_frame": 224, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 224, "end_frame": 277, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 277, "end_frame": 324, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up white bagged food from the shelf and rotated its waist."}, {"start_frame": 324, "end_frame": 414, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the white bagged food from the shelf and placed it into the shopping cart."}, {"start_frame": 414, "end_frame": 450, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up white bagged food from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the white bagged food from the shelf, rotate your waist, and place the white bagged food into the shopping cart."]}
{"task_id": "take_bagged_food_to_cart", "episode_index": 110, "video_path": "take_bagged_food_to_cart/videos/chunk-000/{video_key}/episode_000110.mp4", "tasks": ["Take bagged food to cart."], "length": 534, "action_config": [{"start_frame": 0, "end_frame": 162, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 162, "end_frame": 264, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 264, "end_frame": 342, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 342, "end_frame": 399, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up white bagged food from the shelf and rotated its waist."}, {"start_frame": 399, "end_frame": 489, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the white bagged food from the shelf and placed it into the shopping cart."}, {"start_frame": 489, "end_frame": 534, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up white bagged food from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the white bagged food from the shelf, rotate your waist, and place the white bagged food into the shopping cart."]}
{"task_id": "take_bagged_food_to_cart", "episode_index": 111, "video_path": "take_bagged_food_to_cart/videos/chunk-000/{video_key}/episode_000111.mp4", "tasks": ["Take bagged food to cart."], "length": 633, "action_config": [{"start_frame": 0, "end_frame": 161, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 161, "end_frame": 284, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 284, "end_frame": 375, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 375, "end_frame": 447, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up white bagged food from the shelf and rotated its waist."}, {"start_frame": 447, "end_frame": 597, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the white bagged food from the shelf and placed it into the shopping cart."}, {"start_frame": 597, "end_frame": 633, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up white bagged food from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the white bagged food from the shelf, rotate your waist, and place the white bagged food into the shopping cart."]}
{"task_id": "take_bagged_food_to_cart", "episode_index": 112, "video_path": "take_bagged_food_to_cart/videos/chunk-000/{video_key}/episode_000112.mp4", "tasks": ["Take bagged food to cart."], "length": 724, "action_config": [{"start_frame": 0, "end_frame": 197, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 197, "end_frame": 319, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 319, "end_frame": 416, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 416, "end_frame": 501, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up white bagged food from the shelf and rotated its waist."}, {"start_frame": 501, "end_frame": 685, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the white bagged food from the shelf and placed it into the shopping cart."}, {"start_frame": 685, "end_frame": 724, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up white bagged food from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the white bagged food from the shelf, rotate your waist, and place the white bagged food into the shopping cart."]}
{"task_id": "take_bagged_food_to_cart", "episode_index": 113, "video_path": "take_bagged_food_to_cart/videos/chunk-000/{video_key}/episode_000113.mp4", "tasks": ["Take bagged food to cart."], "length": 511, "action_config": [{"start_frame": 0, "end_frame": 155, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 155, "end_frame": 254, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 254, "end_frame": 329, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 329, "end_frame": 369, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up white bagged food from the shelf and rotated its waist."}, {"start_frame": 369, "end_frame": 462, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the white bagged food from the shelf and placed it into the shopping cart."}, {"start_frame": 462, "end_frame": 511, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up white bagged food from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the white bagged food from the shelf, rotate your waist, and place the white bagged food into the shopping cart."]}
{"task_id": "take_bagged_food_to_cart", "episode_index": 114, "video_path": "take_bagged_food_to_cart/videos/chunk-000/{video_key}/episode_000114.mp4", "tasks": ["Take bagged food to cart."], "length": 588, "action_config": [{"start_frame": 0, "end_frame": 183, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 183, "end_frame": 300, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 300, "end_frame": 384, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 384, "end_frame": 432, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up white bagged food from the shelf and rotated its waist."}, {"start_frame": 432, "end_frame": 537, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the white bagged food from the shelf and placed it into the shopping cart."}, {"start_frame": 537, "end_frame": 588, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up white bagged food from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the white bagged food from the shelf, rotate your waist, and place the white bagged food into the shopping cart."]}
{"task_id": "take_bagged_food_to_cart", "episode_index": 115, "video_path": "take_bagged_food_to_cart/videos/chunk-000/{video_key}/episode_000115.mp4", "tasks": ["Take bagged food to cart."], "length": 585, "action_config": [{"start_frame": 0, "end_frame": 174, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 174, "end_frame": 309, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 309, "end_frame": 381, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 381, "end_frame": 425, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up white bagged food from the shelf and rotated its waist."}, {"start_frame": 425, "end_frame": 530, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the white bagged food from the shelf and placed it into the shopping cart."}, {"start_frame": 530, "end_frame": 567, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up white bagged food from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the white bagged food from the shelf, rotate your waist, and place the white bagged food into the shopping cart."]}
{"task_id": "take_bagged_food_to_cart", "episode_index": 116, "video_path": "take_bagged_food_to_cart/videos/chunk-000/{video_key}/episode_000116.mp4", "tasks": ["Take bagged food to cart."], "length": 631, "action_config": [{"start_frame": 9, "end_frame": 180, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 180, "end_frame": 298, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 298, "end_frame": 363, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 363, "end_frame": 440, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up white bagged food from the shelf and rotated its waist."}, {"start_frame": 440, "end_frame": 585, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the white bagged food from the shelf and placed it into the shopping cart."}, {"start_frame": 585, "end_frame": 627, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up white bagged food from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the white bagged food from the shelf, rotate your waist, and place the white bagged food into the shopping cart."]}
{"task_id": "take_bagged_food_to_cart", "episode_index": 117, "video_path": "take_bagged_food_to_cart/videos/chunk-000/{video_key}/episode_000117.mp4", "tasks": ["Take bagged food to cart."], "length": 486, "action_config": [{"start_frame": 9, "end_frame": 159, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 159, "end_frame": 247, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 247, "end_frame": 312, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 312, "end_frame": 354, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up white bagged food from the shelf and rotated its waist."}, {"start_frame": 354, "end_frame": 430, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the white bagged food from the shelf and placed it into the shopping cart."}, {"start_frame": 430, "end_frame": 483, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up white bagged food from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the white bagged food from the shelf, rotate your waist, and place the white bagged food into the shopping cart."]}
{"task_id": "take_bagged_food_to_cart", "episode_index": 118, "video_path": "take_bagged_food_to_cart/videos/chunk-000/{video_key}/episode_000118.mp4", "tasks": ["Take bagged food to cart."], "length": 555, "action_config": [{"start_frame": 6, "end_frame": 180, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 180, "end_frame": 272, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 272, "end_frame": 345, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 345, "end_frame": 401, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up white bagged food from the shelf and rotated its waist."}, {"start_frame": 401, "end_frame": 513, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the white bagged food from the shelf and placed it into the shopping cart."}, {"start_frame": 513, "end_frame": 555, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up white bagged food from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the white bagged food from the shelf, rotate your waist, and place the white bagged food into the shopping cart."]}
{"task_id": "take_bagged_food_to_cart", "episode_index": 119, "video_path": "take_bagged_food_to_cart/videos/chunk-000/{video_key}/episode_000119.mp4", "tasks": ["Take bagged food to cart."], "length": 649, "action_config": [{"start_frame": 3, "end_frame": 159, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 159, "end_frame": 268, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 268, "end_frame": 366, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 366, "end_frame": 460, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up white bagged food from the shelf and rotated its waist."}, {"start_frame": 460, "end_frame": 555, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the white bagged food from the shelf and placed it into the shopping cart."}, {"start_frame": 555, "end_frame": 635, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up white bagged food from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the white bagged food from the shelf, rotate your waist, and place the white bagged food into the shopping cart."]}
{"task_id": "take_bagged_food_to_cart", "episode_index": 120, "video_path": "take_bagged_food_to_cart/videos/chunk-000/{video_key}/episode_000120.mp4", "tasks": ["Take bagged food to cart."], "length": 672, "action_config": [{"start_frame": 4, "end_frame": 180, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 180, "end_frame": 327, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 327, "end_frame": 413, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 413, "end_frame": 491, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up white bagged food from the shelf and rotated its waist."}, {"start_frame": 491, "end_frame": 600, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the white bagged food from the shelf and placed it into the shopping cart."}, {"start_frame": 600, "end_frame": 672, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up white bagged food from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the white bagged food from the shelf, rotate your waist, and place the white bagged food into the shopping cart."]}
{"task_id": "take_bagged_food_to_cart", "episode_index": 121, "video_path": "take_bagged_food_to_cart/videos/chunk-000/{video_key}/episode_000121.mp4", "tasks": ["Take bagged food to cart."], "length": 677, "action_config": [{"start_frame": 10, "end_frame": 198, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 198, "end_frame": 315, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 315, "end_frame": 396, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 396, "end_frame": 489, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up white bagged food from the shelf and rotated its waist."}, {"start_frame": 489, "end_frame": 578, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the white bagged food from the shelf and placed it into the shopping cart."}, {"start_frame": 578, "end_frame": 677, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up white bagged food from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the white bagged food from the shelf, rotate your waist, and place the white bagged food into the shopping cart."]}
{"task_id": "take_bagged_food_to_cart", "episode_index": 122, "video_path": "take_bagged_food_to_cart/videos/chunk-000/{video_key}/episode_000122.mp4", "tasks": ["Take bagged food to cart."], "length": 562, "action_config": [{"start_frame": 0, "end_frame": 137, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 137, "end_frame": 258, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 258, "end_frame": 328, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 328, "end_frame": 375, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up white bagged food from the shelf and rotated its waist."}, {"start_frame": 375, "end_frame": 507, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the white bagged food from the shelf and placed it into the shopping cart."}, {"start_frame": 507, "end_frame": 562, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up white bagged food from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the white bagged food from the shelf, rotate your waist, and place the white bagged food into the shopping cart."]}
{"task_id": "take_bagged_food_to_cart", "episode_index": 123, "video_path": "take_bagged_food_to_cart/videos/chunk-000/{video_key}/episode_000123.mp4", "tasks": ["Take bagged food to cart."], "length": 571, "action_config": [{"start_frame": 0, "end_frame": 182, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 182, "end_frame": 313, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 313, "end_frame": 366, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 366, "end_frame": 435, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up white bagged food from the shelf and rotated its waist."}, {"start_frame": 435, "end_frame": 521, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the white bagged food from the shelf and placed it into the shopping cart."}, {"start_frame": 521, "end_frame": 571, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up white bagged food from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the white bagged food from the shelf, rotate your waist, and place the white bagged food into the shopping cart."]}
{"task_id": "take_bagged_food_to_cart", "episode_index": 124, "video_path": "take_bagged_food_to_cart/videos/chunk-000/{video_key}/episode_000124.mp4", "tasks": ["Take bagged food to cart."], "length": 588, "action_config": [{"start_frame": 7, "end_frame": 159, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 159, "end_frame": 291, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 291, "end_frame": 356, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 356, "end_frame": 438, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up white bagged food from the shelf and rotated its waist."}, {"start_frame": 438, "end_frame": 543, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the white bagged food from the shelf and placed it into the shopping cart."}, {"start_frame": 543, "end_frame": 588, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up white bagged food from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the white bagged food from the shelf, rotate your waist, and place the white bagged food into the shopping cart."]}
{"task_id": "take_bagged_food_to_cart", "episode_index": 125, "video_path": "take_bagged_food_to_cart/videos/chunk-000/{video_key}/episode_000125.mp4", "tasks": ["Take bagged food to cart."], "length": 556, "action_config": [{"start_frame": 2, "end_frame": 145, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 145, "end_frame": 257, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 257, "end_frame": 324, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 324, "end_frame": 396, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up white bagged food from the shelf and rotated its waist."}, {"start_frame": 396, "end_frame": 510, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the white bagged food from the shelf and placed it into the shopping cart."}, {"start_frame": 510, "end_frame": 556, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up white bagged food from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the white bagged food from the shelf, rotate your waist, and place the white bagged food into the shopping cart."]}
{"task_id": "take_bagged_food_to_cart", "episode_index": 126, "video_path": "take_bagged_food_to_cart/videos/chunk-000/{video_key}/episode_000126.mp4", "tasks": ["Take bagged food to cart."], "length": 546, "action_config": [{"start_frame": 0, "end_frame": 153, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 153, "end_frame": 253, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 253, "end_frame": 309, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 309, "end_frame": 355, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up white bagged food from the shelf and rotated its waist."}, {"start_frame": 355, "end_frame": 479, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the white bagged food from the shelf and placed it into the shopping cart."}, {"start_frame": 479, "end_frame": 533, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up white bagged food from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the white bagged food from the shelf, rotate your waist, and place the white bagged food into the shopping cart."]}
{"task_id": "take_bagged_food_to_cart", "episode_index": 127, "video_path": "take_bagged_food_to_cart/videos/chunk-000/{video_key}/episode_000127.mp4", "tasks": ["Take bagged food to cart."], "length": 561, "action_config": [{"start_frame": 0, "end_frame": 162, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 162, "end_frame": 270, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 270, "end_frame": 324, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 324, "end_frame": 366, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up white bagged food from the shelf and rotated its waist."}, {"start_frame": 366, "end_frame": 519, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the white bagged food from the shelf and placed it into the shopping cart."}, {"start_frame": 519, "end_frame": 561, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up white bagged food from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the white bagged food from the shelf, rotate your waist, and place the white bagged food into the shopping cart."]}
{"task_id": "take_bagged_food_to_cart", "episode_index": 128, "video_path": "take_bagged_food_to_cart/videos/chunk-000/{video_key}/episode_000128.mp4", "tasks": ["Take bagged food to cart."], "length": 453, "action_config": [{"start_frame": 0, "end_frame": 135, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 135, "end_frame": 216, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 216, "end_frame": 277, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 277, "end_frame": 319, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up white bagged food from the shelf and rotated its waist."}, {"start_frame": 319, "end_frame": 420, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the white bagged food from the shelf and placed it into the shopping cart."}, {"start_frame": 420, "end_frame": 453, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up white bagged food from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the white bagged food from the shelf, rotate your waist, and place the white bagged food into the shopping cart."]}
{"task_id": "take_bagged_food_to_cart", "episode_index": 129, "video_path": "take_bagged_food_to_cart/videos/chunk-000/{video_key}/episode_000129.mp4", "tasks": ["Take bagged food to cart."], "length": 641, "action_config": [{"start_frame": 0, "end_frame": 168, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 168, "end_frame": 306, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 306, "end_frame": 395, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 395, "end_frame": 458, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up white bagged food from the shelf and rotated its waist."}, {"start_frame": 458, "end_frame": 565, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the white bagged food from the shelf and placed it into the shopping cart."}, {"start_frame": 565, "end_frame": 636, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up white bagged food from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the white bagged food from the shelf, rotate your waist, and place the white bagged food into the shopping cart."]}
{"task_id": "take_bagged_food_to_cart", "episode_index": 130, "video_path": "take_bagged_food_to_cart/videos/chunk-000/{video_key}/episode_000130.mp4", "tasks": ["Take bagged food to cart."], "length": 618, "action_config": [{"start_frame": 0, "end_frame": 180, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 180, "end_frame": 322, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 322, "end_frame": 410, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 410, "end_frame": 480, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up white bagged food from the shelf and rotated its waist."}, {"start_frame": 480, "end_frame": 579, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the white bagged food from the shelf and placed it into the shopping cart."}, {"start_frame": 579, "end_frame": 618, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up white bagged food from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the white bagged food from the shelf, rotate your waist, and place the white bagged food into the shopping cart."]}
{"task_id": "take_bagged_food_to_cart", "episode_index": 131, "video_path": "take_bagged_food_to_cart/videos/chunk-000/{video_key}/episode_000131.mp4", "tasks": ["Take bagged food to cart."], "length": 497, "action_config": [{"start_frame": 0, "end_frame": 156, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 156, "end_frame": 252, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 252, "end_frame": 303, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 303, "end_frame": 351, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up white bagged food from the shelf and rotated its waist."}, {"start_frame": 351, "end_frame": 415, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the white bagged food from the shelf and placed it into the shopping cart."}, {"start_frame": 415, "end_frame": 478, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up white bagged food from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the white bagged food from the shelf, rotate your waist, and place the white bagged food into the shopping cart."]}
{"task_id": "take_bagged_food_to_cart", "episode_index": 132, "video_path": "take_bagged_food_to_cart/videos/chunk-000/{video_key}/episode_000132.mp4", "tasks": ["Take bagged food to cart."], "length": 486, "action_config": [{"start_frame": 0, "end_frame": 151, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 151, "end_frame": 255, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 255, "end_frame": 312, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 312, "end_frame": 361, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up white bagged food from the shelf and rotated its waist."}, {"start_frame": 361, "end_frame": 451, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the white bagged food from the shelf and placed it into the shopping cart."}, {"start_frame": 451, "end_frame": 486, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up white bagged food from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the white bagged food from the shelf, rotate your waist, and place the white bagged food into the shopping cart."]}
{"task_id": "take_bagged_food_to_cart", "episode_index": 133, "video_path": "take_bagged_food_to_cart/videos/chunk-000/{video_key}/episode_000133.mp4", "tasks": ["Take bagged food to cart."], "length": 540, "action_config": [{"start_frame": 0, "end_frame": 150, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 150, "end_frame": 260, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 260, "end_frame": 326, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 326, "end_frame": 377, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up white bagged food from the shelf and rotated its waist."}, {"start_frame": 377, "end_frame": 495, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the white bagged food from the shelf and placed it into the shopping cart."}, {"start_frame": 495, "end_frame": 540, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up white bagged food from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the white bagged food from the shelf, rotate your waist, and place the white bagged food into the shopping cart."]}
{"task_id": "take_bagged_food_to_cart", "episode_index": 134, "video_path": "take_bagged_food_to_cart/videos/chunk-000/{video_key}/episode_000134.mp4", "tasks": ["Take bagged food to cart."], "length": 694, "action_config": [{"start_frame": 0, "end_frame": 165, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 165, "end_frame": 325, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 325, "end_frame": 393, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 393, "end_frame": 470, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up white bagged food from the shelf and rotated its waist."}, {"start_frame": 470, "end_frame": 631, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the white bagged food from the shelf and placed it into the shopping cart."}, {"start_frame": 631, "end_frame": 678, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up white bagged food from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the white bagged food from the shelf, rotate your waist, and place the white bagged food into the shopping cart."]}
{"task_id": "take_bagged_food_to_cart", "episode_index": 135, "video_path": "take_bagged_food_to_cart/videos/chunk-000/{video_key}/episode_000135.mp4", "tasks": ["Take bagged food to cart."], "length": 486, "action_config": [{"start_frame": 0, "end_frame": 130, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 130, "end_frame": 219, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 219, "end_frame": 292, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 292, "end_frame": 345, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up white bagged food from the shelf and rotated its waist."}, {"start_frame": 345, "end_frame": 423, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the white bagged food from the shelf and placed it into the shopping cart."}, {"start_frame": 423, "end_frame": 486, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up white bagged food from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the white bagged food from the shelf, rotate your waist, and place the white bagged food into the shopping cart."]}
{"task_id": "take_bagged_food_to_cart", "episode_index": 136, "video_path": "take_bagged_food_to_cart/videos/chunk-000/{video_key}/episode_000136.mp4", "tasks": ["Take bagged food to cart."], "length": 537, "action_config": [{"start_frame": 0, "end_frame": 141, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 141, "end_frame": 237, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 237, "end_frame": 301, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 301, "end_frame": 357, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up white bagged food from the shelf and rotated its waist."}, {"start_frame": 357, "end_frame": 488, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the white bagged food from the shelf and placed it into the shopping cart."}, {"start_frame": 488, "end_frame": 537, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up white bagged food from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the white bagged food from the shelf, rotate your waist, and place the white bagged food into the shopping cart."]}
{"task_id": "take_bagged_food_to_cart", "episode_index": 137, "video_path": "take_bagged_food_to_cart/videos/chunk-000/{video_key}/episode_000137.mp4", "tasks": ["Take bagged food to cart."], "length": 524, "action_config": [{"start_frame": 0, "end_frame": 147, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 147, "end_frame": 269, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 269, "end_frame": 328, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 328, "end_frame": 366, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up white bagged food from the shelf and rotated its waist."}, {"start_frame": 366, "end_frame": 437, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the white bagged food from the shelf and placed it into the shopping cart."}, {"start_frame": 437, "end_frame": 519, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up white bagged food from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the white bagged food from the shelf, rotate your waist, and place the white bagged food into the shopping cart."]}
{"task_id": "take_bagged_food_to_cart", "episode_index": 138, "video_path": "take_bagged_food_to_cart/videos/chunk-000/{video_key}/episode_000138.mp4", "tasks": ["Take bagged food to cart."], "length": 558, "action_config": [{"start_frame": 0, "end_frame": 176, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 176, "end_frame": 300, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 300, "end_frame": 359, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 359, "end_frame": 411, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up white bagged food from the shelf and rotated its waist."}, {"start_frame": 411, "end_frame": 489, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the white bagged food from the shelf and placed it into the shopping cart."}, {"start_frame": 489, "end_frame": 543, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up white bagged food from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the white bagged food from the shelf, rotate your waist, and place the white bagged food into the shopping cart."]}
{"task_id": "take_bagged_food_to_cart", "episode_index": 139, "video_path": "take_bagged_food_to_cart/videos/chunk-000/{video_key}/episode_000139.mp4", "tasks": ["Take bagged food to cart."], "length": 575, "action_config": [{"start_frame": 0, "end_frame": 182, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 182, "end_frame": 272, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 272, "end_frame": 351, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 351, "end_frame": 439, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up white bagged food from the shelf and rotated its waist."}, {"start_frame": 439, "end_frame": 507, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the white bagged food from the shelf and placed it into the shopping cart."}, {"start_frame": 507, "end_frame": 575, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up white bagged food from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the white bagged food from the shelf, rotate your waist, and place the white bagged food into the shopping cart."]}
{"task_id": "take_bagged_food_to_cart", "episode_index": 140, "video_path": "take_bagged_food_to_cart/videos/chunk-000/{video_key}/episode_000140.mp4", "tasks": ["Take bagged food to cart."], "length": 521, "action_config": [{"start_frame": 0, "end_frame": 180, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 180, "end_frame": 264, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 264, "end_frame": 320, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 320, "end_frame": 372, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up white bagged food from the shelf and rotated its waist."}, {"start_frame": 372, "end_frame": 429, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the white bagged food from the shelf and placed it into the shopping cart."}, {"start_frame": 429, "end_frame": 510, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up white bagged food from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the white bagged food from the shelf, rotate your waist, and place the white bagged food into the shopping cart."]}
{"task_id": "take_bagged_food_to_cart", "episode_index": 141, "video_path": "take_bagged_food_to_cart/videos/chunk-000/{video_key}/episode_000141.mp4", "tasks": ["Take bagged food to cart."], "length": 552, "action_config": [{"start_frame": 0, "end_frame": 185, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 185, "end_frame": 291, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 291, "end_frame": 360, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 360, "end_frame": 426, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up white bagged food from the shelf and rotated its waist."}, {"start_frame": 426, "end_frame": 476, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the white bagged food from the shelf and placed it into the shopping cart."}, {"start_frame": 476, "end_frame": 549, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up white bagged food from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the white bagged food from the shelf, rotate your waist, and place the white bagged food into the shopping cart."]}
{"task_id": "take_bagged_food_to_cart", "episode_index": 142, "video_path": "take_bagged_food_to_cart/videos/chunk-000/{video_key}/episode_000142.mp4", "tasks": ["Take bagged food to cart."], "length": 520, "action_config": [{"start_frame": 0, "end_frame": 131, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 131, "end_frame": 249, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 249, "end_frame": 324, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 324, "end_frame": 373, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up white bagged food from the shelf and rotated its waist."}, {"start_frame": 373, "end_frame": 484, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the white bagged food from the shelf and placed it into the shopping cart."}, {"start_frame": 484, "end_frame": 520, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up white bagged food from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the white bagged food from the shelf, rotate your waist, and place the white bagged food into the shopping cart."]}
{"task_id": "take_bagged_food_to_cart", "episode_index": 143, "video_path": "take_bagged_food_to_cart/videos/chunk-000/{video_key}/episode_000143.mp4", "tasks": ["Take bagged food to cart."], "length": 604, "action_config": [{"start_frame": 0, "end_frame": 168, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 168, "end_frame": 277, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 277, "end_frame": 354, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 354, "end_frame": 426, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up white bagged food from the shelf and rotated its waist."}, {"start_frame": 426, "end_frame": 565, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the white bagged food from the shelf and placed it into the shopping cart."}, {"start_frame": 565, "end_frame": 604, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up white bagged food from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the white bagged food from the shelf, rotate your waist, and place the white bagged food into the shopping cart."]}
{"task_id": "take_bagged_food_to_cart", "episode_index": 144, "video_path": "take_bagged_food_to_cart/videos/chunk-000/{video_key}/episode_000144.mp4", "tasks": ["Take bagged food to cart."], "length": 495, "action_config": [{"start_frame": 0, "end_frame": 132, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 132, "end_frame": 234, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 234, "end_frame": 318, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 318, "end_frame": 356, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up white bagged food from the shelf and rotated its waist."}, {"start_frame": 356, "end_frame": 456, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the white bagged food from the shelf and placed it into the shopping cart."}, {"start_frame": 456, "end_frame": 495, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up white bagged food from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the white bagged food from the shelf, rotate your waist, and place the white bagged food into the shopping cart."]}
{"task_id": "take_bagged_food_to_cart", "episode_index": 145, "video_path": "take_bagged_food_to_cart/videos/chunk-000/{video_key}/episode_000145.mp4", "tasks": ["Take bagged food to cart."], "length": 523, "action_config": [{"start_frame": 0, "end_frame": 176, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 176, "end_frame": 252, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 252, "end_frame": 312, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 312, "end_frame": 358, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up white bagged food from the shelf and rotated its waist."}, {"start_frame": 358, "end_frame": 481, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the white bagged food from the shelf and placed it into the shopping cart."}, {"start_frame": 481, "end_frame": 523, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up white bagged food from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the white bagged food from the shelf, rotate your waist, and place the white bagged food into the shopping cart."]}
{"task_id": "take_bagged_food_to_cart", "episode_index": 146, "video_path": "take_bagged_food_to_cart/videos/chunk-000/{video_key}/episode_000146.mp4", "tasks": ["Take bagged food to cart."], "length": 649, "action_config": [{"start_frame": 0, "end_frame": 192, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 192, "end_frame": 321, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 321, "end_frame": 414, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 414, "end_frame": 479, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up white bagged food from the shelf and rotated its waist."}, {"start_frame": 479, "end_frame": 555, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the white bagged food from the shelf and placed it into the shopping cart."}, {"start_frame": 555, "end_frame": 632, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up white bagged food from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the white bagged food from the shelf, rotate your waist, and place the white bagged food into the shopping cart."]}
{"task_id": "take_bagged_food_to_cart", "episode_index": 147, "video_path": "take_bagged_food_to_cart/videos/chunk-000/{video_key}/episode_000147.mp4", "tasks": ["Take bagged food to cart."], "length": 661, "action_config": [{"start_frame": 0, "end_frame": 129, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 129, "end_frame": 273, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 273, "end_frame": 353, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 353, "end_frame": 426, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up white bagged food from the shelf and rotated its waist."}, {"start_frame": 426, "end_frame": 485, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the white bagged food from the shelf and placed it into the shopping cart."}, {"start_frame": 485, "end_frame": 657, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up white bagged food from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the white bagged food from the shelf, rotate your waist, and place the white bagged food into the shopping cart."]}
{"task_id": "take_bagged_food_to_cart", "episode_index": 148, "video_path": "take_bagged_food_to_cart/videos/chunk-000/{video_key}/episode_000148.mp4", "tasks": ["Take bagged food to cart."], "length": 646, "action_config": [{"start_frame": 0, "end_frame": 165, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 165, "end_frame": 312, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 312, "end_frame": 404, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 404, "end_frame": 473, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up white bagged food from the shelf and rotated its waist."}, {"start_frame": 473, "end_frame": 564, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the white bagged food from the shelf and placed it into the shopping cart."}, {"start_frame": 564, "end_frame": 641, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up white bagged food from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the white bagged food from the shelf, rotate your waist, and place the white bagged food into the shopping cart."]}
{"task_id": "take_bagged_food_to_cart", "episode_index": 149, "video_path": "take_bagged_food_to_cart/videos/chunk-000/{video_key}/episode_000149.mp4", "tasks": ["Take bagged food to cart."], "length": 460, "action_config": [{"start_frame": 0, "end_frame": 126, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 126, "end_frame": 210, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 210, "end_frame": 270, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 270, "end_frame": 329, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up white bagged food from the shelf and rotated its waist."}, {"start_frame": 329, "end_frame": 390, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the white bagged food from the shelf and placed it into the shopping cart."}, {"start_frame": 390, "end_frame": 460, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up white bagged food from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the white bagged food from the shelf, rotate your waist, and place the white bagged food into the shopping cart."]}
{"task_id": "take_bagged_food_to_cart", "episode_index": 150, "video_path": "take_bagged_food_to_cart/videos/chunk-000/{video_key}/episode_000150.mp4", "tasks": ["Take bagged food to cart."], "length": 460, "action_config": [{"start_frame": 0, "end_frame": 113, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 113, "end_frame": 216, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 216, "end_frame": 272, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 272, "end_frame": 336, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up white bagged food from the shelf and rotated its waist."}, {"start_frame": 336, "end_frame": 396, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the white bagged food from the shelf and placed it into the shopping cart."}, {"start_frame": 396, "end_frame": 460, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up white bagged food from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the white bagged food from the shelf, rotate your waist, and place the white bagged food into the shopping cart."]}
{"task_id": "take_bagged_food_to_cart", "episode_index": 151, "video_path": "take_bagged_food_to_cart/videos/chunk-000/{video_key}/episode_000151.mp4", "tasks": ["Take bagged food to cart."], "length": 539, "action_config": [{"start_frame": 0, "end_frame": 153, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 153, "end_frame": 249, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 249, "end_frame": 309, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 309, "end_frame": 350, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up white bagged food from the shelf and rotated its waist."}, {"start_frame": 350, "end_frame": 495, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the white bagged food from the shelf and placed it into the shopping cart."}, {"start_frame": 495, "end_frame": 530, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up white bagged food from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the white bagged food from the shelf, rotate your waist, and place the white bagged food into the shopping cart."]}
{"task_id": "take_bagged_food_to_cart", "episode_index": 152, "video_path": "take_bagged_food_to_cart/videos/chunk-000/{video_key}/episode_000152.mp4", "tasks": ["Take bagged food to cart."], "length": 585, "action_config": [{"start_frame": 0, "end_frame": 219, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 219, "end_frame": 327, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 327, "end_frame": 381, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 381, "end_frame": 438, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up white bagged food from the shelf and rotated its waist."}, {"start_frame": 438, "end_frame": 501, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the white bagged food from the shelf and placed it into the shopping cart."}, {"start_frame": 501, "end_frame": 585, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up white bagged food from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the white bagged food from the shelf, rotate your waist, and place the white bagged food into the shopping cart."]}
{"task_id": "take_bagged_food_to_cart", "episode_index": 153, "video_path": "take_bagged_food_to_cart/videos/chunk-000/{video_key}/episode_000153.mp4", "tasks": ["Take bagged food to cart."], "length": 599, "action_config": [{"start_frame": 0, "end_frame": 156, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 156, "end_frame": 276, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 276, "end_frame": 360, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 360, "end_frame": 422, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up white bagged food from the shelf and rotated its waist."}, {"start_frame": 422, "end_frame": 488, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the white bagged food from the shelf and placed it into the shopping cart."}, {"start_frame": 488, "end_frame": 588, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up white bagged food from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the white bagged food from the shelf, rotate your waist, and place the white bagged food into the shopping cart."]}
{"task_id": "take_bagged_food_to_cart", "episode_index": 154, "video_path": "take_bagged_food_to_cart/videos/chunk-000/{video_key}/episode_000154.mp4", "tasks": ["Take bagged food to cart."], "length": 545, "action_config": [{"start_frame": 0, "end_frame": 162, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 162, "end_frame": 264, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 264, "end_frame": 339, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 339, "end_frame": 399, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up white bagged food from the shelf and rotated its waist."}, {"start_frame": 399, "end_frame": 468, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the white bagged food from the shelf and placed it into the shopping cart."}, {"start_frame": 468, "end_frame": 540, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up white bagged food from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the white bagged food from the shelf, rotate your waist, and place the white bagged food into the shopping cart."]}
{"task_id": "take_bagged_food_to_cart", "episode_index": 155, "video_path": "take_bagged_food_to_cart/videos/chunk-000/{video_key}/episode_000155.mp4", "tasks": ["Take bagged food to cart."], "length": 701, "action_config": [{"start_frame": 0, "end_frame": 273, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 273, "end_frame": 391, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 391, "end_frame": 459, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 459, "end_frame": 534, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up white bagged food from the shelf and rotated its waist."}, {"start_frame": 534, "end_frame": 627, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the white bagged food from the shelf and placed it into the shopping cart."}, {"start_frame": 627, "end_frame": 686, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up white bagged food from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the white bagged food from the shelf, rotate your waist, and place the white bagged food into the shopping cart."]}
{"task_id": "take_bagged_food_to_cart", "episode_index": 156, "video_path": "take_bagged_food_to_cart/videos/chunk-000/{video_key}/episode_000156.mp4", "tasks": ["Take bagged food to cart."], "length": 550, "action_config": [{"start_frame": 0, "end_frame": 170, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 170, "end_frame": 302, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 302, "end_frame": 352, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 352, "end_frame": 400, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up white bagged food from the shelf and rotated its waist."}, {"start_frame": 400, "end_frame": 473, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the white bagged food from the shelf and placed it into the shopping cart."}, {"start_frame": 473, "end_frame": 543, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up white bagged food from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the white bagged food from the shelf, rotate your waist, and place the white bagged food into the shopping cart."]}
{"task_id": "take_bagged_food_to_cart", "episode_index": 157, "video_path": "take_bagged_food_to_cart/videos/chunk-000/{video_key}/episode_000157.mp4", "tasks": ["Take bagged food to cart."], "length": 528, "action_config": [{"start_frame": 0, "end_frame": 152, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 152, "end_frame": 279, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 279, "end_frame": 342, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 342, "end_frame": 383, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up white bagged food from the shelf and rotated its waist."}, {"start_frame": 383, "end_frame": 458, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the white bagged food from the shelf and placed it into the shopping cart."}, {"start_frame": 458, "end_frame": 519, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up white bagged food from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the white bagged food from the shelf, rotate your waist, and place the white bagged food into the shopping cart."]}
{"task_id": "take_bagged_food_to_cart", "episode_index": 158, "video_path": "take_bagged_food_to_cart/videos/chunk-000/{video_key}/episode_000158.mp4", "tasks": ["Take bagged food to cart."], "length": 625, "action_config": [{"start_frame": 0, "end_frame": 218, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 218, "end_frame": 330, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 330, "end_frame": 384, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 384, "end_frame": 496, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up white bagged food from the shelf and rotated its waist."}, {"start_frame": 496, "end_frame": 561, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the white bagged food from the shelf and placed it into the shopping cart."}, {"start_frame": 561, "end_frame": 615, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up white bagged food from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the white bagged food from the shelf, rotate your waist, and place the white bagged food into the shopping cart."]}
{"task_id": "take_bagged_food_to_cart", "episode_index": 159, "video_path": "take_bagged_food_to_cart/videos/chunk-000/{video_key}/episode_000159.mp4", "tasks": ["Take bagged food to cart."], "length": 578, "action_config": [{"start_frame": 0, "end_frame": 156, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 156, "end_frame": 261, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 261, "end_frame": 328, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 328, "end_frame": 402, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up white bagged food from the shelf and rotated its waist."}, {"start_frame": 402, "end_frame": 507, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the white bagged food from the shelf and placed it into the shopping cart."}, {"start_frame": 507, "end_frame": 567, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up white bagged food from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the white bagged food from the shelf, rotate your waist, and place the white bagged food into the shopping cart."]}
{"task_id": "take_bagged_food_to_cart", "episode_index": 160, "video_path": "take_bagged_food_to_cart/videos/chunk-000/{video_key}/episode_000160.mp4", "tasks": ["Take bagged food to cart."], "length": 695, "action_config": [{"start_frame": 0, "end_frame": 179, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 179, "end_frame": 351, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 351, "end_frame": 437, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 437, "end_frame": 522, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up white bagged food from the shelf and rotated its waist."}, {"start_frame": 522, "end_frame": 591, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the white bagged food from the shelf and placed it into the shopping cart."}, {"start_frame": 591, "end_frame": 681, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up white bagged food from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the white bagged food from the shelf, rotate your waist, and place the white bagged food into the shopping cart."]}
{"task_id": "take_bagged_food_to_cart", "episode_index": 161, "video_path": "take_bagged_food_to_cart/videos/chunk-000/{video_key}/episode_000161.mp4", "tasks": ["Take bagged food to cart."], "length": 568, "action_config": [{"start_frame": 0, "end_frame": 162, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 162, "end_frame": 261, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 261, "end_frame": 329, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 329, "end_frame": 390, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up white bagged food from the shelf and rotated its waist."}, {"start_frame": 390, "end_frame": 480, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the white bagged food from the shelf and placed it into the shopping cart."}, {"start_frame": 480, "end_frame": 561, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up white bagged food from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the white bagged food from the shelf, rotate your waist, and place the white bagged food into the shopping cart."]}
{"task_id": "take_bagged_food_to_cart", "episode_index": 162, "video_path": "take_bagged_food_to_cart/videos/chunk-000/{video_key}/episode_000162.mp4", "tasks": ["Take bagged food to cart."], "length": 549, "action_config": [{"start_frame": 0, "end_frame": 146, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 146, "end_frame": 318, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 318, "end_frame": 381, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 381, "end_frame": 438, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up white bagged food from the shelf and rotated its waist."}, {"start_frame": 438, "end_frame": 507, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the white bagged food from the shelf and placed it into the shopping cart."}, {"start_frame": 507, "end_frame": 544, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up white bagged food from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the white bagged food from the shelf, rotate your waist, and place the white bagged food into the shopping cart."]}
{"task_id": "take_bagged_food_to_cart", "episode_index": 163, "video_path": "take_bagged_food_to_cart/videos/chunk-000/{video_key}/episode_000163.mp4", "tasks": ["Take bagged food to cart."], "length": 778, "action_config": [{"start_frame": 0, "end_frame": 216, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 216, "end_frame": 393, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 393, "end_frame": 494, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 494, "end_frame": 581, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up white bagged food from the shelf and rotated its waist."}, {"start_frame": 581, "end_frame": 671, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the white bagged food from the shelf and placed it into the shopping cart."}, {"start_frame": 671, "end_frame": 768, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up white bagged food from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the white bagged food from the shelf, rotate your waist, and place the white bagged food into the shopping cart."]}
{"task_id": "take_bagged_food_to_cart", "episode_index": 164, "video_path": "take_bagged_food_to_cart/videos/chunk-000/{video_key}/episode_000164.mp4", "tasks": ["Take bagged food to cart."], "length": 545, "action_config": [{"start_frame": 0, "end_frame": 155, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 155, "end_frame": 258, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 258, "end_frame": 313, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 313, "end_frame": 377, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up white bagged food from the shelf and rotated its waist."}, {"start_frame": 377, "end_frame": 441, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the white bagged food from the shelf and placed it into the shopping cart."}, {"start_frame": 441, "end_frame": 528, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up white bagged food from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the white bagged food from the shelf, rotate your waist, and place the white bagged food into the shopping cart."]}
{"task_id": "take_bagged_food_to_cart", "episode_index": 165, "video_path": "take_bagged_food_to_cart/videos/chunk-000/{video_key}/episode_000165.mp4", "tasks": ["Take bagged food to cart."], "length": 643, "action_config": [{"start_frame": 0, "end_frame": 201, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 201, "end_frame": 314, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 314, "end_frame": 399, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 399, "end_frame": 471, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up white bagged food from the shelf and rotated its waist."}, {"start_frame": 471, "end_frame": 546, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the white bagged food from the shelf and placed it into the shopping cart."}, {"start_frame": 546, "end_frame": 638, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up white bagged food from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the white bagged food from the shelf, rotate your waist, and place the white bagged food into the shopping cart."]}
{"task_id": "take_bagged_food_to_cart", "episode_index": 166, "video_path": "take_bagged_food_to_cart/videos/chunk-000/{video_key}/episode_000166.mp4", "tasks": ["Take bagged food to cart."], "length": 493, "action_config": [{"start_frame": 0, "end_frame": 139, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 139, "end_frame": 249, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 249, "end_frame": 310, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 310, "end_frame": 356, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up white bagged food from the shelf and rotated its waist."}, {"start_frame": 356, "end_frame": 417, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the white bagged food from the shelf and placed it into the shopping cart."}, {"start_frame": 417, "end_frame": 483, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up white bagged food from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the white bagged food from the shelf, rotate your waist, and place the white bagged food into the shopping cart."]}
{"task_id": "take_bagged_food_to_cart", "episode_index": 167, "video_path": "take_bagged_food_to_cart/videos/chunk-000/{video_key}/episode_000167.mp4", "tasks": ["Take bagged food to cart."], "length": 621, "action_config": [{"start_frame": 0, "end_frame": 146, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 146, "end_frame": 245, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 245, "end_frame": 339, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 339, "end_frame": 411, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up white bagged food from the shelf and rotated its waist."}, {"start_frame": 411, "end_frame": 497, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the white bagged food from the shelf and placed it into the shopping cart."}, {"start_frame": 497, "end_frame": 600, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up white bagged food from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the white bagged food from the shelf, rotate your waist, and place the white bagged food into the shopping cart."]}
{"task_id": "take_bagged_food_to_cart", "episode_index": 168, "video_path": "take_bagged_food_to_cart/videos/chunk-000/{video_key}/episode_000168.mp4", "tasks": ["Take bagged food to cart."], "length": 590, "action_config": [{"start_frame": 0, "end_frame": 180, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 180, "end_frame": 294, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 294, "end_frame": 368, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 368, "end_frame": 435, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up white bagged food from the shelf and rotated its waist."}, {"start_frame": 435, "end_frame": 518, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the white bagged food from the shelf and placed it into the shopping cart."}, {"start_frame": 518, "end_frame": 583, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up white bagged food from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the white bagged food from the shelf, rotate your waist, and place the white bagged food into the shopping cart."]}
{"task_id": "take_bagged_food_to_cart", "episode_index": 169, "video_path": "take_bagged_food_to_cart/videos/chunk-000/{video_key}/episode_000169.mp4", "tasks": ["Take bagged food to cart."], "length": 738, "action_config": [{"start_frame": 0, "end_frame": 195, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 195, "end_frame": 312, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 312, "end_frame": 405, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 405, "end_frame": 494, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up white bagged food from the shelf and rotated its waist."}, {"start_frame": 494, "end_frame": 579, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the white bagged food from the shelf and placed it into the shopping cart."}, {"start_frame": 579, "end_frame": 714, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up white bagged food from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the white bagged food from the shelf, rotate your waist, and place the white bagged food into the shopping cart."]}
{"task_id": "take_bagged_food_to_cart", "episode_index": 170, "video_path": "take_bagged_food_to_cart/videos/chunk-000/{video_key}/episode_000170.mp4", "tasks": ["Take bagged food to cart."], "length": 487, "action_config": [{"start_frame": 0, "end_frame": 149, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 149, "end_frame": 221, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 221, "end_frame": 285, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 285, "end_frame": 339, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up white bagged food from the shelf and rotated its waist."}, {"start_frame": 339, "end_frame": 426, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the white bagged food from the shelf and placed it into the shopping cart."}, {"start_frame": 426, "end_frame": 474, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up white bagged food from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the white bagged food from the shelf, rotate your waist, and place the white bagged food into the shopping cart."]}
{"task_id": "take_bagged_food_to_cart", "episode_index": 171, "video_path": "take_bagged_food_to_cart/videos/chunk-000/{video_key}/episode_000171.mp4", "tasks": ["Take bagged food to cart."], "length": 664, "action_config": [{"start_frame": 0, "end_frame": 203, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 203, "end_frame": 318, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 318, "end_frame": 408, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 408, "end_frame": 470, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up white bagged food from the shelf and rotated its waist."}, {"start_frame": 470, "end_frame": 566, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the white bagged food from the shelf and placed it into the shopping cart."}, {"start_frame": 566, "end_frame": 639, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up white bagged food from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the white bagged food from the shelf, rotate your waist, and place the white bagged food into the shopping cart."]}
{"task_id": "take_bagged_food_to_cart", "episode_index": 172, "video_path": "take_bagged_food_to_cart/videos/chunk-000/{video_key}/episode_000172.mp4", "tasks": ["Take bagged food to cart."], "length": 623, "action_config": [{"start_frame": 0, "end_frame": 196, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 196, "end_frame": 327, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 327, "end_frame": 405, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 405, "end_frame": 474, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up white bagged food from the shelf and rotated its waist."}, {"start_frame": 474, "end_frame": 534, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the white bagged food from the shelf and placed it into the shopping cart."}, {"start_frame": 534, "end_frame": 617, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up white bagged food from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the white bagged food from the shelf, rotate your waist, and place the white bagged food into the shopping cart."]}
{"task_id": "take_bagged_food_to_cart", "episode_index": 173, "video_path": "take_bagged_food_to_cart/videos/chunk-000/{video_key}/episode_000173.mp4", "tasks": ["Take bagged food to cart."], "length": 581, "action_config": [{"start_frame": 0, "end_frame": 178, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 178, "end_frame": 291, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 291, "end_frame": 356, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 356, "end_frame": 426, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up white bagged food from the shelf and rotated its waist."}, {"start_frame": 426, "end_frame": 492, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the white bagged food from the shelf and placed it into the shopping cart."}, {"start_frame": 492, "end_frame": 558, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up white bagged food from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the white bagged food from the shelf, rotate your waist, and place the white bagged food into the shopping cart."]}
{"task_id": "take_bagged_food_to_cart", "episode_index": 174, "video_path": "take_bagged_food_to_cart/videos/chunk-000/{video_key}/episode_000174.mp4", "tasks": ["Take bagged food to cart."], "length": 552, "action_config": [{"start_frame": 0, "end_frame": 145, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 145, "end_frame": 234, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 234, "end_frame": 324, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 324, "end_frame": 380, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up white bagged food from the shelf and rotated its waist."}, {"start_frame": 380, "end_frame": 470, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the white bagged food from the shelf and placed it into the shopping cart."}, {"start_frame": 470, "end_frame": 546, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up white bagged food from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the white bagged food from the shelf, rotate your waist, and place the white bagged food into the shopping cart."]}
{"task_id": "take_bagged_food_to_cart", "episode_index": 175, "video_path": "take_bagged_food_to_cart/videos/chunk-000/{video_key}/episode_000175.mp4", "tasks": ["Take bagged food to cart."], "length": 606, "action_config": [{"start_frame": 0, "end_frame": 171, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 171, "end_frame": 284, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 284, "end_frame": 350, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 350, "end_frame": 426, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up white bagged food from the shelf and rotated its waist."}, {"start_frame": 426, "end_frame": 513, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the white bagged food from the shelf and placed it into the shopping cart."}, {"start_frame": 513, "end_frame": 587, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up white bagged food from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the white bagged food from the shelf, rotate your waist, and place the white bagged food into the shopping cart."]}
{"task_id": "take_bagged_food_to_cart", "episode_index": 176, "video_path": "take_bagged_food_to_cart/videos/chunk-000/{video_key}/episode_000176.mp4", "tasks": ["Take bagged food to cart."], "length": 536, "action_config": [{"start_frame": 0, "end_frame": 153, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 153, "end_frame": 266, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 266, "end_frame": 331, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 331, "end_frame": 399, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up white bagged food from the shelf and rotated its waist."}, {"start_frame": 399, "end_frame": 456, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the white bagged food from the shelf and placed it into the shopping cart."}, {"start_frame": 456, "end_frame": 523, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up white bagged food from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the white bagged food from the shelf, rotate your waist, and place the white bagged food into the shopping cart."]}
{"task_id": "take_bagged_food_to_cart", "episode_index": 177, "video_path": "take_bagged_food_to_cart/videos/chunk-000/{video_key}/episode_000177.mp4", "tasks": ["Take bagged food to cart."], "length": 605, "action_config": [{"start_frame": 0, "end_frame": 176, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 176, "end_frame": 276, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 276, "end_frame": 372, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 372, "end_frame": 414, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up white bagged food from the shelf and rotated its waist."}, {"start_frame": 414, "end_frame": 497, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the white bagged food from the shelf and placed it into the shopping cart."}, {"start_frame": 497, "end_frame": 585, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up white bagged food from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the white bagged food from the shelf, rotate your waist, and place the white bagged food into the shopping cart."]}
{"task_id": "take_bagged_food_to_cart", "episode_index": 178, "video_path": "take_bagged_food_to_cart/videos/chunk-000/{video_key}/episode_000178.mp4", "tasks": ["Take bagged food to cart."], "length": 684, "action_config": [{"start_frame": 0, "end_frame": 189, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 189, "end_frame": 345, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 345, "end_frame": 435, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 435, "end_frame": 525, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up white bagged food from the shelf and rotated its waist."}, {"start_frame": 525, "end_frame": 609, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the white bagged food from the shelf and placed it into the shopping cart."}, {"start_frame": 609, "end_frame": 677, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up white bagged food from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the white bagged food from the shelf, rotate your waist, and place the white bagged food into the shopping cart."]}
{"task_id": "take_bagged_food_to_cart", "episode_index": 179, "video_path": "take_bagged_food_to_cart/videos/chunk-000/{video_key}/episode_000179.mp4", "tasks": ["Take bagged food to cart."], "length": 774, "action_config": [{"start_frame": 0, "end_frame": 207, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 207, "end_frame": 339, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 339, "end_frame": 426, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 426, "end_frame": 506, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up white bagged food from the shelf and rotated its waist."}, {"start_frame": 506, "end_frame": 606, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the white bagged food from the shelf and placed it into the shopping cart."}, {"start_frame": 606, "end_frame": 764, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up white bagged food from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the white bagged food from the shelf, rotate your waist, and place the white bagged food into the shopping cart."]}
{"task_id": "take_bagged_food_to_cart", "episode_index": 180, "video_path": "take_bagged_food_to_cart/videos/chunk-000/{video_key}/episode_000180.mp4", "tasks": ["Take bagged food to cart."], "length": 570, "action_config": [{"start_frame": 0, "end_frame": 219, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 219, "end_frame": 316, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 316, "end_frame": 373, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 373, "end_frame": 443, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up white bagged food from the shelf and rotated its waist."}, {"start_frame": 443, "end_frame": 489, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the white bagged food from the shelf and placed it into the shopping cart."}, {"start_frame": 489, "end_frame": 556, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up white bagged food from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the white bagged food from the shelf, rotate your waist, and place the white bagged food into the shopping cart."]}
{"task_id": "take_bagged_food_to_cart", "episode_index": 181, "video_path": "take_bagged_food_to_cart/videos/chunk-000/{video_key}/episode_000181.mp4", "tasks": ["Take bagged food to cart."], "length": 583, "action_config": [{"start_frame": 0, "end_frame": 164, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 164, "end_frame": 273, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 273, "end_frame": 351, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 351, "end_frame": 417, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up white bagged food from the shelf and rotated its waist."}, {"start_frame": 417, "end_frame": 492, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the white bagged food from the shelf and placed it into the shopping cart."}, {"start_frame": 492, "end_frame": 573, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up white bagged food from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the white bagged food from the shelf, rotate your waist, and place the white bagged food into the shopping cart."]}
{"task_id": "take_bagged_food_to_cart", "episode_index": 182, "video_path": "take_bagged_food_to_cart/videos/chunk-000/{video_key}/episode_000182.mp4", "tasks": ["Take bagged food to cart."], "length": 688, "action_config": [{"start_frame": 0, "end_frame": 243, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 243, "end_frame": 379, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 379, "end_frame": 453, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 453, "end_frame": 531, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up white bagged food from the shelf and rotated its waist."}, {"start_frame": 531, "end_frame": 644, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the white bagged food from the shelf and placed it into the shopping cart."}, {"start_frame": 644, "end_frame": 688, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up white bagged food from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the white bagged food from the shelf, rotate your waist, and place the white bagged food into the shopping cart."]}
{"task_id": "take_bagged_food_to_cart", "episode_index": 183, "video_path": "take_bagged_food_to_cart/videos/chunk-000/{video_key}/episode_000183.mp4", "tasks": ["Take bagged food to cart."], "length": 541, "action_config": [{"start_frame": 0, "end_frame": 127, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 127, "end_frame": 240, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 240, "end_frame": 297, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 297, "end_frame": 351, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up white bagged food from the shelf and rotated its waist."}, {"start_frame": 351, "end_frame": 498, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the white bagged food from the shelf and placed it into the shopping cart."}, {"start_frame": 498, "end_frame": 531, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up white bagged food from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the white bagged food from the shelf, rotate your waist, and place the white bagged food into the shopping cart."]}
{"task_id": "take_bagged_food_to_cart", "episode_index": 184, "video_path": "take_bagged_food_to_cart/videos/chunk-000/{video_key}/episode_000184.mp4", "tasks": ["Take bagged food to cart."], "length": 528, "action_config": [{"start_frame": 0, "end_frame": 121, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 121, "end_frame": 229, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 229, "end_frame": 288, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 288, "end_frame": 336, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up white bagged food from the shelf and rotated its waist."}, {"start_frame": 336, "end_frame": 483, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the white bagged food from the shelf and placed it into the shopping cart."}, {"start_frame": 483, "end_frame": 516, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up white bagged food from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the white bagged food from the shelf, rotate your waist, and place the white bagged food into the shopping cart."]}
{"task_id": "take_bagged_food_to_cart", "episode_index": 185, "video_path": "take_bagged_food_to_cart/videos/chunk-000/{video_key}/episode_000185.mp4", "tasks": ["Take bagged food to cart."], "length": 680, "action_config": [{"start_frame": 0, "end_frame": 162, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 162, "end_frame": 303, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 303, "end_frame": 390, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 390, "end_frame": 479, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up white bagged food from the shelf and rotated its waist."}, {"start_frame": 479, "end_frame": 629, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the white bagged food from the shelf and placed it into the shopping cart."}, {"start_frame": 629, "end_frame": 662, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up white bagged food from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the white bagged food from the shelf, rotate your waist, and place the white bagged food into the shopping cart."]}
{"task_id": "take_bagged_food_to_cart", "episode_index": 186, "video_path": "take_bagged_food_to_cart/videos/chunk-000/{video_key}/episode_000186.mp4", "tasks": ["Take bagged food to cart."], "length": 694, "action_config": [{"start_frame": 0, "end_frame": 207, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 207, "end_frame": 327, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 327, "end_frame": 386, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 386, "end_frame": 456, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up white bagged food from the shelf and rotated its waist."}, {"start_frame": 456, "end_frame": 651, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the white bagged food from the shelf and placed it into the shopping cart."}, {"start_frame": 651, "end_frame": 694, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up white bagged food from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the white bagged food from the shelf, rotate your waist, and place the white bagged food into the shopping cart."]}
{"task_id": "take_bagged_food_to_cart", "episode_index": 187, "video_path": "take_bagged_food_to_cart/videos/chunk-000/{video_key}/episode_000187.mp4", "tasks": ["Take bagged food to cart."], "length": 572, "action_config": [{"start_frame": 0, "end_frame": 162, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 162, "end_frame": 290, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 290, "end_frame": 363, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 363, "end_frame": 426, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up white bagged food from the shelf and rotated its waist."}, {"start_frame": 426, "end_frame": 536, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the white bagged food from the shelf and placed it into the shopping cart."}, {"start_frame": 536, "end_frame": 572, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up white bagged food from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the white bagged food from the shelf, rotate your waist, and place the white bagged food into the shopping cart."]}
{"task_id": "take_bagged_food_to_cart", "episode_index": 188, "video_path": "take_bagged_food_to_cart/videos/chunk-000/{video_key}/episode_000188.mp4", "tasks": ["Take bagged food to cart."], "length": 540, "action_config": [{"start_frame": 0, "end_frame": 152, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 152, "end_frame": 240, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 240, "end_frame": 290, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 290, "end_frame": 336, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up white bagged food from the shelf and rotated its waist."}, {"start_frame": 336, "end_frame": 495, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the white bagged food from the shelf and placed it into the shopping cart."}, {"start_frame": 495, "end_frame": 531, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up white bagged food from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the white bagged food from the shelf, rotate your waist, and place the white bagged food into the shopping cart."]}
{"task_id": "take_bagged_food_to_cart", "episode_index": 189, "video_path": "take_bagged_food_to_cart/videos/chunk-000/{video_key}/episode_000189.mp4", "tasks": ["Take bagged food to cart."], "length": 726, "action_config": [{"start_frame": 0, "end_frame": 214, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 214, "end_frame": 330, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 330, "end_frame": 429, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 429, "end_frame": 504, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up white bagged food from the shelf and rotated its waist."}, {"start_frame": 504, "end_frame": 676, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the white bagged food from the shelf and placed it into the shopping cart."}, {"start_frame": 676, "end_frame": 708, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up white bagged food from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the white bagged food from the shelf, rotate your waist, and place the white bagged food into the shopping cart."]}
{"task_id": "take_bagged_food_to_cart", "episode_index": 190, "video_path": "take_bagged_food_to_cart/videos/chunk-000/{video_key}/episode_000190.mp4", "tasks": ["Take bagged food to cart."], "length": 686, "action_config": [{"start_frame": 0, "end_frame": 162, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 162, "end_frame": 281, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 281, "end_frame": 380, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 380, "end_frame": 492, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up white bagged food from the shelf and rotated its waist."}, {"start_frame": 492, "end_frame": 609, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the white bagged food from the shelf and placed it into the shopping cart."}, {"start_frame": 609, "end_frame": 686, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up white bagged food from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the white bagged food from the shelf, rotate your waist, and place the white bagged food into the shopping cart."]}
{"task_id": "take_bagged_food_to_cart", "episode_index": 191, "video_path": "take_bagged_food_to_cart/videos/chunk-000/{video_key}/episode_000191.mp4", "tasks": ["Take bagged food to cart."], "length": 497, "action_config": [{"start_frame": 0, "end_frame": 134, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 134, "end_frame": 231, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 231, "end_frame": 299, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 299, "end_frame": 345, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up white bagged food from the shelf and rotated its waist."}, {"start_frame": 345, "end_frame": 423, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the white bagged food from the shelf and placed it into the shopping cart."}, {"start_frame": 423, "end_frame": 492, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up white bagged food from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the white bagged food from the shelf, rotate your waist, and place the white bagged food into the shopping cart."]}
{"task_id": "take_bagged_food_to_cart", "episode_index": 192, "video_path": "take_bagged_food_to_cart/videos/chunk-000/{video_key}/episode_000192.mp4", "tasks": ["Take bagged food to cart."], "length": 608, "action_config": [{"start_frame": 0, "end_frame": 160, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 160, "end_frame": 291, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 291, "end_frame": 370, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 370, "end_frame": 429, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up white bagged food from the shelf and rotated its waist."}, {"start_frame": 429, "end_frame": 562, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the white bagged food from the shelf and placed it into the shopping cart."}, {"start_frame": 562, "end_frame": 608, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up white bagged food from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the white bagged food from the shelf, rotate your waist, and place the white bagged food into the shopping cart."]}
{"task_id": "take_bagged_food_to_cart", "episode_index": 193, "video_path": "take_bagged_food_to_cart/videos/chunk-000/{video_key}/episode_000193.mp4", "tasks": ["Take bagged food to cart."], "length": 584, "action_config": [{"start_frame": 0, "end_frame": 186, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 186, "end_frame": 281, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 281, "end_frame": 345, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 345, "end_frame": 396, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up white bagged food from the shelf and rotated its waist."}, {"start_frame": 396, "end_frame": 543, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the white bagged food from the shelf and placed it into the shopping cart."}, {"start_frame": 543, "end_frame": 584, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up white bagged food from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the white bagged food from the shelf, rotate your waist, and place the white bagged food into the shopping cart."]}
{"task_id": "take_bagged_food_to_cart", "episode_index": 194, "video_path": "take_bagged_food_to_cart/videos/chunk-000/{video_key}/episode_000194.mp4", "tasks": ["Take bagged food to cart."], "length": 548, "action_config": [{"start_frame": 0, "end_frame": 150, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 150, "end_frame": 245, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 245, "end_frame": 313, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 313, "end_frame": 381, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up white bagged food from the shelf and rotated its waist."}, {"start_frame": 381, "end_frame": 466, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the white bagged food from the shelf and placed it into the shopping cart."}, {"start_frame": 466, "end_frame": 539, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up white bagged food from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the white bagged food from the shelf, rotate your waist, and place the white bagged food into the shopping cart."]}
{"task_id": "take_bagged_food_to_cart", "episode_index": 195, "video_path": "take_bagged_food_to_cart/videos/chunk-000/{video_key}/episode_000195.mp4", "tasks": ["Take bagged food to cart."], "length": 553, "action_config": [{"start_frame": 0, "end_frame": 162, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 162, "end_frame": 261, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 261, "end_frame": 309, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 309, "end_frame": 368, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up white bagged food from the shelf and rotated its waist."}, {"start_frame": 368, "end_frame": 462, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the white bagged food from the shelf and placed it into the shopping cart."}, {"start_frame": 462, "end_frame": 534, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up white bagged food from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the white bagged food from the shelf, rotate your waist, and place the white bagged food into the shopping cart."]}
{"task_id": "take_bagged_food_to_cart", "episode_index": 196, "video_path": "take_bagged_food_to_cart/videos/chunk-000/{video_key}/episode_000196.mp4", "tasks": ["Take bagged food to cart."], "length": 728, "action_config": [{"start_frame": 0, "end_frame": 206, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 206, "end_frame": 422, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 422, "end_frame": 492, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 492, "end_frame": 573, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up white bagged food from the shelf and rotated its waist."}, {"start_frame": 573, "end_frame": 663, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the white bagged food from the shelf and placed it into the shopping cart."}, {"start_frame": 663, "end_frame": 728, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up white bagged food from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the white bagged food from the shelf, rotate your waist, and place the white bagged food into the shopping cart."]}
{"task_id": "take_bagged_food_to_cart", "episode_index": 197, "video_path": "take_bagged_food_to_cart/videos/chunk-000/{video_key}/episode_000197.mp4", "tasks": ["Take bagged food to cart."], "length": 601, "action_config": [{"start_frame": 0, "end_frame": 236, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 236, "end_frame": 333, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 333, "end_frame": 394, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 394, "end_frame": 474, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up white bagged food from the shelf and rotated its waist."}, {"start_frame": 474, "end_frame": 528, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the white bagged food from the shelf and placed it into the shopping cart."}, {"start_frame": 528, "end_frame": 601, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up white bagged food from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the white bagged food from the shelf, rotate your waist, and place the white bagged food into the shopping cart."]}
{"task_id": "take_bagged_food_to_cart", "episode_index": 198, "video_path": "take_bagged_food_to_cart/videos/chunk-000/{video_key}/episode_000198.mp4", "tasks": ["Take bagged food to cart."], "length": 510, "action_config": [{"start_frame": 0, "end_frame": 146, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 146, "end_frame": 234, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 234, "end_frame": 315, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 315, "end_frame": 372, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up white bagged food from the shelf and rotated its waist."}, {"start_frame": 372, "end_frame": 444, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the white bagged food from the shelf and placed it into the shopping cart."}, {"start_frame": 444, "end_frame": 510, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up white bagged food from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the white bagged food from the shelf, rotate your waist, and place the white bagged food into the shopping cart."]}
{"task_id": "take_bagged_food_to_cart", "episode_index": 199, "video_path": "take_bagged_food_to_cart/videos/chunk-000/{video_key}/episode_000199.mp4", "tasks": ["Take bagged food to cart."], "length": 552, "action_config": [{"start_frame": 0, "end_frame": 129, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 129, "end_frame": 257, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 257, "end_frame": 327, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 327, "end_frame": 378, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up white bagged food from the shelf and rotated its waist."}, {"start_frame": 378, "end_frame": 460, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the white bagged food from the shelf and placed it into the shopping cart."}, {"start_frame": 460, "end_frame": 534, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up white bagged food from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the white bagged food from the shelf, rotate your waist, and place the white bagged food into the shopping cart."]}
{"task_id": "take_bagged_food_to_cart", "episode_index": 200, "video_path": "take_bagged_food_to_cart/videos/chunk-000/{video_key}/episode_000200.mp4", "tasks": ["Take bagged food to cart."], "length": 713, "action_config": [{"start_frame": 0, "end_frame": 173, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 173, "end_frame": 311, "action_text": "pick up the white bagged food from the shelf", "skill": "Pick", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 311, "end_frame": 419, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up the white bagged food from the shelf."}, {"start_frame": 419, "end_frame": 489, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up white bagged food from the shelf and rotated its waist."}, {"start_frame": 489, "end_frame": 669, "action_text": "place the white bagged food into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the white bagged food from the shelf and placed it into the shopping cart."}, {"start_frame": 669, "end_frame": 698, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up white bagged food from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the white bagged food from the shelf, rotate your waist, and place the white bagged food into the shopping cart."]}
{"task_id": "take_cup_to_cart", "episode_index": 0, "video_path": "take_cup_to_cart/videos/chunk-000/{video_key}/episode_000000.mp4", "tasks": ["Grasp water cup to cart."], "length": 524, "action_config": [{"start_frame": 0, "end_frame": 99, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 99, "end_frame": 237, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 237, "end_frame": 339, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 339, "end_frame": 374, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf and rotated its waist."}, {"start_frame": 374, "end_frame": 402, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}, {"start_frame": 402, "end_frame": 524, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}], "detailed_task_instruction": ["Rotate your waist to face the shelf, then pick up the red and white bagged disposable water cups from the third layer of the shelf. Rotate your waist again to face the shopping cart and place the red and white bagged disposable water cups into the shopping cart."]}
{"task_id": "take_cup_to_cart", "episode_index": 1, "video_path": "take_cup_to_cart/videos/chunk-000/{video_key}/episode_000001.mp4", "tasks": ["Grasp water cup to cart."], "length": 453, "action_config": [{"start_frame": 0, "end_frame": 111, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 111, "end_frame": 206, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 206, "end_frame": 279, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 279, "end_frame": 315, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf and rotated its waist."}, {"start_frame": 315, "end_frame": 352, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}, {"start_frame": 352, "end_frame": 453, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}], "detailed_task_instruction": ["Rotate your waist to face the shelf, then pick up the red and white bagged disposable water cups from the third layer of the shelf. Rotate your waist again to face the shopping cart and place the red and white bagged disposable water cups into the shopping cart."]}
{"task_id": "take_cup_to_cart", "episode_index": 2, "video_path": "take_cup_to_cart/videos/chunk-000/{video_key}/episode_000002.mp4", "tasks": ["Grasp water cup to cart."], "length": 388, "action_config": [{"start_frame": 0, "end_frame": 99, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 99, "end_frame": 221, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 221, "end_frame": 274, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 274, "end_frame": 290, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf and rotated its waist."}, {"start_frame": 290, "end_frame": 335, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}, {"start_frame": 335, "end_frame": 388, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}], "detailed_task_instruction": ["Rotate your waist to face the shelf, then pick up the red and white bagged disposable water cups from the third layer of the shelf. Rotate your waist again to face the shopping cart and place the red and white bagged disposable water cups into the shopping cart."]}
{"task_id": "take_cup_to_cart", "episode_index": 3, "video_path": "take_cup_to_cart/videos/chunk-000/{video_key}/episode_000003.mp4", "tasks": ["Grasp water cup to cart."], "length": 442, "action_config": [{"start_frame": 0, "end_frame": 110, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 110, "end_frame": 148, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 148, "end_frame": 207, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 207, "end_frame": 330, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf and rotated its waist."}, {"start_frame": 330, "end_frame": 360, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}, {"start_frame": 360, "end_frame": 442, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}], "detailed_task_instruction": ["Rotate your waist to face the shelf, then pick up the red and white bagged disposable water cups from the third layer of the shelf. Rotate your waist again to face the shopping cart and place the red and white bagged disposable water cups into the shopping cart."]}
{"task_id": "take_cup_to_cart", "episode_index": 4, "video_path": "take_cup_to_cart/videos/chunk-000/{video_key}/episode_000004.mp4", "tasks": ["Grasp water cup to cart."], "length": 435, "action_config": [{"start_frame": 0, "end_frame": 113, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 113, "end_frame": 186, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 186, "end_frame": 270, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 270, "end_frame": 297, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf and rotated its waist."}, {"start_frame": 297, "end_frame": 360, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}, {"start_frame": 360, "end_frame": 435, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}], "detailed_task_instruction": ["Rotate your waist to face the shelf, then pick up the red and white bagged disposable water cups from the third layer of the shelf. Rotate your waist again to face the shopping cart and place the red and white bagged disposable water cups into the shopping cart."]}
{"task_id": "take_cup_to_cart", "episode_index": 5, "video_path": "take_cup_to_cart/videos/chunk-000/{video_key}/episode_000005.mp4", "tasks": ["Grasp water cup to cart."], "length": 372, "action_config": [{"start_frame": 0, "end_frame": 92, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 92, "end_frame": 164, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 164, "end_frame": 234, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 234, "end_frame": 270, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf and rotated its waist."}, {"start_frame": 270, "end_frame": 312, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}, {"start_frame": 312, "end_frame": 372, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}], "detailed_task_instruction": ["Rotate your waist to face the shelf, then pick up the red and white bagged disposable water cups from the third layer of the shelf. Rotate your waist again to face the shopping cart and place the red and white bagged disposable water cups into the shopping cart."]}
{"task_id": "take_cup_to_cart", "episode_index": 6, "video_path": "take_cup_to_cart/videos/chunk-000/{video_key}/episode_000006.mp4", "tasks": ["Grasp water cup to cart."], "length": 504, "action_config": [{"start_frame": 0, "end_frame": 136, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 136, "end_frame": 244, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 244, "end_frame": 357, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 357, "end_frame": 390, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf and rotated its waist."}, {"start_frame": 390, "end_frame": 443, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}, {"start_frame": 443, "end_frame": 504, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}], "detailed_task_instruction": ["Rotate your waist to face the shelf, then pick up the red and white bagged disposable water cups from the third layer of the shelf. Rotate your waist again to face the shopping cart and place the red and white bagged disposable water cups into the shopping cart."]}
{"task_id": "take_cup_to_cart", "episode_index": 7, "video_path": "take_cup_to_cart/videos/chunk-000/{video_key}/episode_000007.mp4", "tasks": ["Grasp water cup to cart."], "length": 507, "action_config": [{"start_frame": 0, "end_frame": 105, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 105, "end_frame": 253, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 253, "end_frame": 347, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 347, "end_frame": 389, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf and rotated its waist."}, {"start_frame": 389, "end_frame": 429, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}, {"start_frame": 429, "end_frame": 507, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}], "detailed_task_instruction": ["Rotate your waist to face the shelf, then pick up the red and white bagged disposable water cups from the third layer of the shelf. Rotate your waist again to face the shopping cart and place the red and white bagged disposable water cups into the shopping cart."]}
{"task_id": "take_cup_to_cart", "episode_index": 8, "video_path": "take_cup_to_cart/videos/chunk-000/{video_key}/episode_000008.mp4", "tasks": ["Grasp water cup to cart."], "length": 420, "action_config": [{"start_frame": 0, "end_frame": 111, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 111, "end_frame": 195, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 195, "end_frame": 280, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 280, "end_frame": 329, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf and rotated its waist."}, {"start_frame": 329, "end_frame": 362, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}, {"start_frame": 362, "end_frame": 420, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}], "detailed_task_instruction": ["Rotate your waist to face the shelf, then pick up the red and white bagged disposable water cups from the third layer of the shelf. Rotate your waist again to face the shopping cart and place the red and white bagged disposable water cups into the shopping cart."]}
{"task_id": "take_cup_to_cart", "episode_index": 9, "video_path": "take_cup_to_cart/videos/chunk-000/{video_key}/episode_000009.mp4", "tasks": ["Grasp water cup to cart."], "length": 582, "action_config": [{"start_frame": 0, "end_frame": 129, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 129, "end_frame": 275, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 275, "end_frame": 393, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 393, "end_frame": 435, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf and rotated its waist."}, {"start_frame": 435, "end_frame": 480, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}, {"start_frame": 480, "end_frame": 582, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}], "detailed_task_instruction": ["Rotate your waist to face the shelf, then pick up the red and white bagged disposable water cups from the third layer of the shelf. Rotate your waist again to face the shopping cart and place the red and white bagged disposable water cups into the shopping cart."]}
{"task_id": "take_cup_to_cart", "episode_index": 10, "video_path": "take_cup_to_cart/videos/chunk-000/{video_key}/episode_000010.mp4", "tasks": ["Grasp water cup to cart."], "length": 563, "action_config": [{"start_frame": 0, "end_frame": 232, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 232, "end_frame": 342, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 342, "end_frame": 441, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 441, "end_frame": 461, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf and rotated its waist."}, {"start_frame": 461, "end_frame": 497, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}, {"start_frame": 497, "end_frame": 563, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}], "detailed_task_instruction": ["Rotate your waist to face the shelf, then pick up the red and white bagged disposable water cups from the third layer of the shelf. Rotate your waist again to face the shopping cart and place the red and white bagged disposable water cups into the shopping cart."]}
{"task_id": "take_cup_to_cart", "episode_index": 11, "video_path": "take_cup_to_cart/videos/chunk-000/{video_key}/episode_000011.mp4", "tasks": ["Grasp water cup to cart."], "length": 467, "action_config": [{"start_frame": 0, "end_frame": 83, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 83, "end_frame": 192, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 192, "end_frame": 300, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 300, "end_frame": 318, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf and rotated its waist."}, {"start_frame": 318, "end_frame": 374, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}, {"start_frame": 374, "end_frame": 467, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}], "detailed_task_instruction": ["Rotate your waist to face the shelf, then pick up the red and white bagged disposable water cups from the third layer of the shelf. Rotate your waist again to face the shopping cart and place the red and white bagged disposable water cups into the shopping cart."]}
{"task_id": "take_cup_to_cart", "episode_index": 12, "video_path": "take_cup_to_cart/videos/chunk-000/{video_key}/episode_000012.mp4", "tasks": ["Grasp water cup to cart."], "length": 479, "action_config": [{"start_frame": 0, "end_frame": 80, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 80, "end_frame": 194, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 194, "end_frame": 284, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 284, "end_frame": 312, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf and rotated its waist."}, {"start_frame": 312, "end_frame": 399, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}, {"start_frame": 399, "end_frame": 479, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}], "detailed_task_instruction": ["Rotate your waist to face the shelf, then pick up the red and white bagged disposable water cups from the third layer of the shelf. Rotate your waist again to face the shopping cart and place the red and white bagged disposable water cups into the shopping cart."]}
{"task_id": "take_cup_to_cart", "episode_index": 13, "video_path": "take_cup_to_cart/videos/chunk-000/{video_key}/episode_000013.mp4", "tasks": ["Grasp water cup to cart."], "length": 415, "action_config": [{"start_frame": 0, "end_frame": 99, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 99, "end_frame": 204, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 204, "end_frame": 282, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 282, "end_frame": 312, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf and rotated its waist."}, {"start_frame": 312, "end_frame": 375, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}, {"start_frame": 375, "end_frame": 415, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}], "detailed_task_instruction": ["Rotate your waist to face the shelf, then pick up the red and white bagged disposable water cups from the third layer of the shelf. Rotate your waist again to face the shopping cart and place the red and white bagged disposable water cups into the shopping cart."]}
{"task_id": "take_cup_to_cart", "episode_index": 14, "video_path": "take_cup_to_cart/videos/chunk-000/{video_key}/episode_000014.mp4", "tasks": ["Grasp water cup to cart."], "length": 396, "action_config": [{"start_frame": 0, "end_frame": 93, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 93, "end_frame": 177, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 177, "end_frame": 255, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 255, "end_frame": 279, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf and rotated its waist."}, {"start_frame": 279, "end_frame": 318, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}, {"start_frame": 318, "end_frame": 396, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}], "detailed_task_instruction": ["Rotate your waist to face the shelf, then pick up the red and white bagged disposable water cups from the third layer of the shelf. Rotate your waist again to face the shopping cart and place the red and white bagged disposable water cups into the shopping cart."]}
{"task_id": "take_cup_to_cart", "episode_index": 15, "video_path": "take_cup_to_cart/videos/chunk-000/{video_key}/episode_000015.mp4", "tasks": ["Grasp water cup to cart."], "length": 660, "action_config": [{"start_frame": 0, "end_frame": 189, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 189, "end_frame": 351, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 351, "end_frame": 468, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 468, "end_frame": 534, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf and rotated its waist."}, {"start_frame": 534, "end_frame": 581, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}, {"start_frame": 581, "end_frame": 660, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}], "detailed_task_instruction": ["Rotate your waist to face the shelf, then pick up the red and white bagged disposable water cups from the third layer of the shelf. Rotate your waist again to face the shopping cart and place the red and white bagged disposable water cups into the shopping cart."]}
{"task_id": "take_cup_to_cart", "episode_index": 16, "video_path": "take_cup_to_cart/videos/chunk-000/{video_key}/episode_000016.mp4", "tasks": ["Grasp water cup to cart."], "length": 458, "action_config": [{"start_frame": 0, "end_frame": 125, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 125, "end_frame": 225, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 225, "end_frame": 308, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 308, "end_frame": 354, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf and rotated its waist."}, {"start_frame": 354, "end_frame": 379, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}, {"start_frame": 379, "end_frame": 458, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}], "detailed_task_instruction": ["Rotate your waist to face the shelf, then pick up the red and white bagged disposable water cups from the third layer of the shelf. Rotate your waist again to face the shopping cart and place the red and white bagged disposable water cups into the shopping cart."]}
{"task_id": "take_cup_to_cart", "episode_index": 17, "video_path": "take_cup_to_cart/videos/chunk-000/{video_key}/episode_000017.mp4", "tasks": ["Grasp water cup to cart."], "length": 401, "action_config": [{"start_frame": 0, "end_frame": 123, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 123, "end_frame": 208, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 208, "end_frame": 273, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 273, "end_frame": 301, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf and rotated its waist."}, {"start_frame": 301, "end_frame": 331, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}, {"start_frame": 331, "end_frame": 401, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}], "detailed_task_instruction": ["Rotate your waist to face the shelf, then pick up the red and white bagged disposable water cups from the third layer of the shelf. Rotate your waist again to face the shopping cart and place the red and white bagged disposable water cups into the shopping cart."]}
{"task_id": "take_cup_to_cart", "episode_index": 18, "video_path": "take_cup_to_cart/videos/chunk-000/{video_key}/episode_000018.mp4", "tasks": ["Grasp water cup to cart."], "length": 400, "action_config": [{"start_frame": 0, "end_frame": 111, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 111, "end_frame": 173, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 173, "end_frame": 252, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 252, "end_frame": 294, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf and rotated its waist."}, {"start_frame": 294, "end_frame": 336, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}, {"start_frame": 336, "end_frame": 400, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}], "detailed_task_instruction": ["Rotate your waist to face the shelf, then pick up the red and white bagged disposable water cups from the third layer of the shelf. Rotate your waist again to face the shopping cart and place the red and white bagged disposable water cups into the shopping cart."]}
{"task_id": "take_cup_to_cart", "episode_index": 19, "video_path": "take_cup_to_cart/videos/chunk-000/{video_key}/episode_000019.mp4", "tasks": ["Grasp water cup to cart."], "length": 388, "action_config": [{"start_frame": 0, "end_frame": 93, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 93, "end_frame": 165, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 165, "end_frame": 247, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 247, "end_frame": 293, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf and rotated its waist."}, {"start_frame": 293, "end_frame": 315, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}, {"start_frame": 315, "end_frame": 388, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}], "detailed_task_instruction": ["Rotate your waist to face the shelf, then pick up the red and white bagged disposable water cups from the third layer of the shelf. Rotate your waist again to face the shopping cart and place the red and white bagged disposable water cups into the shopping cart."]}
{"task_id": "take_cup_to_cart", "episode_index": 20, "video_path": "take_cup_to_cart/videos/chunk-000/{video_key}/episode_000020.mp4", "tasks": ["Grasp water cup to cart."], "length": 446, "action_config": [{"start_frame": 0, "end_frame": 104, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 104, "end_frame": 206, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 206, "end_frame": 286, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 286, "end_frame": 324, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf and rotated its waist."}, {"start_frame": 324, "end_frame": 365, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}, {"start_frame": 365, "end_frame": 446, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}], "detailed_task_instruction": ["Rotate your waist to face the shelf, then pick up the red and white bagged disposable water cups from the third layer of the shelf. Rotate your waist again to face the shopping cart and place the red and white bagged disposable water cups into the shopping cart."]}
{"task_id": "take_cup_to_cart", "episode_index": 21, "video_path": "take_cup_to_cart/videos/chunk-000/{video_key}/episode_000021.mp4", "tasks": ["Grasp water cup to cart."], "length": 403, "action_config": [{"start_frame": 0, "end_frame": 102, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 102, "end_frame": 182, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 182, "end_frame": 278, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 278, "end_frame": 296, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf and rotated its waist."}, {"start_frame": 296, "end_frame": 335, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}, {"start_frame": 335, "end_frame": 403, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}], "detailed_task_instruction": ["Rotate your waist to face the shelf, then pick up the red and white bagged disposable water cups from the third layer of the shelf. Rotate your waist again to face the shopping cart and place the red and white bagged disposable water cups into the shopping cart."]}
{"task_id": "take_cup_to_cart", "episode_index": 22, "video_path": "take_cup_to_cart/videos/chunk-000/{video_key}/episode_000022.mp4", "tasks": ["Grasp water cup to cart."], "length": 433, "action_config": [{"start_frame": 0, "end_frame": 113, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 113, "end_frame": 227, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 227, "end_frame": 309, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 309, "end_frame": 324, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf and rotated its waist."}, {"start_frame": 324, "end_frame": 372, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}, {"start_frame": 372, "end_frame": 433, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}], "detailed_task_instruction": ["Rotate your waist to face the shelf, then pick up the red and white bagged disposable water cups from the third layer of the shelf. Rotate your waist again to face the shopping cart and place the red and white bagged disposable water cups into the shopping cart."]}
{"task_id": "take_cup_to_cart", "episode_index": 23, "video_path": "take_cup_to_cart/videos/chunk-000/{video_key}/episode_000023.mp4", "tasks": ["Grasp water cup to cart."], "length": 470, "action_config": [{"start_frame": 0, "end_frame": 87, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 87, "end_frame": 192, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 192, "end_frame": 298, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 298, "end_frame": 345, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf and rotated its waist."}, {"start_frame": 345, "end_frame": 390, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}, {"start_frame": 390, "end_frame": 470, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}], "detailed_task_instruction": ["Rotate your waist to face the shelf, then pick up the red and white bagged disposable water cups from the third layer of the shelf. Rotate your waist again to face the shopping cart and place the red and white bagged disposable water cups into the shopping cart."]}
{"task_id": "take_cup_to_cart", "episode_index": 24, "video_path": "take_cup_to_cart/videos/chunk-000/{video_key}/episode_000024.mp4", "tasks": ["Grasp water cup to cart."], "length": 494, "action_config": [{"start_frame": 0, "end_frame": 107, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 107, "end_frame": 186, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 186, "end_frame": 288, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 288, "end_frame": 369, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf and rotated its waist."}, {"start_frame": 369, "end_frame": 422, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}, {"start_frame": 422, "end_frame": 494, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}], "detailed_task_instruction": ["Rotate your waist to face the shelf, then pick up the red and white bagged disposable water cups from the third layer of the shelf. Rotate your waist again to face the shopping cart and place the red and white bagged disposable water cups into the shopping cart."]}
{"task_id": "take_cup_to_cart", "episode_index": 25, "video_path": "take_cup_to_cart/videos/chunk-000/{video_key}/episode_000025.mp4", "tasks": ["Grasp water cup to cart."], "length": 384, "action_config": [{"start_frame": 0, "end_frame": 93, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 93, "end_frame": 186, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 186, "end_frame": 267, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 267, "end_frame": 309, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf and rotated its waist."}, {"start_frame": 309, "end_frame": 329, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}, {"start_frame": 329, "end_frame": 384, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}], "detailed_task_instruction": ["Rotate your waist to face the shelf, then pick up the red and white bagged disposable water cups from the third layer of the shelf. Rotate your waist again to face the shopping cart and place the red and white bagged disposable water cups into the shopping cart."]}
{"task_id": "take_cup_to_cart", "episode_index": 26, "video_path": "take_cup_to_cart/videos/chunk-000/{video_key}/episode_000026.mp4", "tasks": ["Grasp water cup to cart."], "length": 440, "action_config": [{"start_frame": 0, "end_frame": 120, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 120, "end_frame": 224, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 224, "end_frame": 307, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 307, "end_frame": 334, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf and rotated its waist."}, {"start_frame": 334, "end_frame": 390, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}, {"start_frame": 390, "end_frame": 440, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}], "detailed_task_instruction": ["Rotate your waist to face the shelf, then pick up the red and white bagged disposable water cups from the third layer of the shelf. Rotate your waist again to face the shopping cart and place the red and white bagged disposable water cups into the shopping cart."]}
{"task_id": "take_cup_to_cart", "episode_index": 27, "video_path": "take_cup_to_cart/videos/chunk-000/{video_key}/episode_000027.mp4", "tasks": ["Grasp water cup to cart."], "length": 486, "action_config": [{"start_frame": 0, "end_frame": 119, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 119, "end_frame": 231, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 231, "end_frame": 336, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 336, "end_frame": 368, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf and rotated its waist."}, {"start_frame": 368, "end_frame": 435, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}, {"start_frame": 435, "end_frame": 486, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}], "detailed_task_instruction": ["Rotate your waist to face the shelf, then pick up the red and white bagged disposable water cups from the third layer of the shelf. Rotate your waist again to face the shopping cart and place the red and white bagged disposable water cups into the shopping cart."]}
{"task_id": "take_cup_to_cart", "episode_index": 28, "video_path": "take_cup_to_cart/videos/chunk-000/{video_key}/episode_000028.mp4", "tasks": ["Grasp water cup to cart."], "length": 476, "action_config": [{"start_frame": 0, "end_frame": 107, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 107, "end_frame": 255, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 255, "end_frame": 310, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 310, "end_frame": 381, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf and rotated its waist."}, {"start_frame": 381, "end_frame": 414, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}, {"start_frame": 414, "end_frame": 476, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}], "detailed_task_instruction": ["Rotate your waist to face the shelf, then pick up the red and white bagged disposable water cups from the third layer of the shelf. Rotate your waist again to face the shopping cart and place the red and white bagged disposable water cups into the shopping cart."]}
{"task_id": "take_cup_to_cart", "episode_index": 29, "video_path": "take_cup_to_cart/videos/chunk-000/{video_key}/episode_000029.mp4", "tasks": ["Grasp water cup to cart."], "length": 556, "action_config": [{"start_frame": 0, "end_frame": 117, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 117, "end_frame": 221, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 221, "end_frame": 333, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 333, "end_frame": 405, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf and rotated its waist."}, {"start_frame": 405, "end_frame": 471, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}, {"start_frame": 471, "end_frame": 556, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}], "detailed_task_instruction": ["Rotate your waist to face the shelf, then pick up the red and white bagged disposable water cups from the third layer of the shelf. Rotate your waist again to face the shopping cart and place the red and white bagged disposable water cups into the shopping cart."]}
{"task_id": "take_cup_to_cart", "episode_index": 30, "video_path": "take_cup_to_cart/videos/chunk-000/{video_key}/episode_000030.mp4", "tasks": ["Grasp water cup to cart."], "length": 405, "action_config": [{"start_frame": 0, "end_frame": 125, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 125, "end_frame": 179, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 179, "end_frame": 276, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 276, "end_frame": 321, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf and rotated its waist."}, {"start_frame": 321, "end_frame": 366, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}, {"start_frame": 366, "end_frame": 405, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}], "detailed_task_instruction": ["Rotate your waist to face the shelf, then pick up the red and white bagged disposable water cups from the third layer of the shelf. Rotate your waist again to face the shopping cart and place the red and white bagged disposable water cups into the shopping cart."]}
{"task_id": "take_cup_to_cart", "episode_index": 31, "video_path": "take_cup_to_cart/videos/chunk-000/{video_key}/episode_000031.mp4", "tasks": ["Grasp water cup to cart."], "length": 398, "action_config": [{"start_frame": 0, "end_frame": 76, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 76, "end_frame": 180, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 180, "end_frame": 270, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 270, "end_frame": 311, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf and rotated its waist."}, {"start_frame": 311, "end_frame": 327, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}, {"start_frame": 327, "end_frame": 398, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}], "detailed_task_instruction": ["Rotate your waist to face the shelf, then pick up the red and white bagged disposable water cups from the third layer of the shelf. Rotate your waist again to face the shopping cart and place the red and white bagged disposable water cups into the shopping cart."]}
{"task_id": "take_cup_to_cart", "episode_index": 32, "video_path": "take_cup_to_cart/videos/chunk-000/{video_key}/episode_000032.mp4", "tasks": ["Grasp water cup to cart."], "length": 510, "action_config": [{"start_frame": 0, "end_frame": 86, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 86, "end_frame": 281, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 281, "end_frame": 380, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 380, "end_frame": 404, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf and rotated its waist."}, {"start_frame": 404, "end_frame": 437, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}, {"start_frame": 437, "end_frame": 510, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}], "detailed_task_instruction": ["Rotate your waist to face the shelf, then pick up the red and white bagged disposable water cups from the third layer of the shelf. Rotate your waist again to face the shopping cart and place the red and white bagged disposable water cups into the shopping cart."]}
{"task_id": "take_cup_to_cart", "episode_index": 33, "video_path": "take_cup_to_cart/videos/chunk-000/{video_key}/episode_000033.mp4", "tasks": ["Grasp water cup to cart."], "length": 437, "action_config": [{"start_frame": 0, "end_frame": 110, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 110, "end_frame": 219, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 219, "end_frame": 308, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 308, "end_frame": 343, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf and rotated its waist."}, {"start_frame": 343, "end_frame": 369, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}, {"start_frame": 369, "end_frame": 437, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}], "detailed_task_instruction": ["Rotate your waist to face the shelf, then pick up the red and white bagged disposable water cups from the third layer of the shelf. Rotate your waist again to face the shopping cart and place the red and white bagged disposable water cups into the shopping cart."]}
{"task_id": "take_cup_to_cart", "episode_index": 34, "video_path": "take_cup_to_cart/videos/chunk-000/{video_key}/episode_000034.mp4", "tasks": ["Grasp water cup to cart."], "length": 470, "action_config": [{"start_frame": 0, "end_frame": 101, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 101, "end_frame": 198, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 198, "end_frame": 280, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 280, "end_frame": 324, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf and rotated its waist."}, {"start_frame": 324, "end_frame": 378, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}, {"start_frame": 378, "end_frame": 470, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}], "detailed_task_instruction": ["Rotate your waist to face the shelf, then pick up the red and white bagged disposable water cups from the third layer of the shelf. Rotate your waist again to face the shopping cart and place the red and white bagged disposable water cups into the shopping cart."]}
{"task_id": "take_cup_to_cart", "episode_index": 35, "video_path": "take_cup_to_cart/videos/chunk-000/{video_key}/episode_000035.mp4", "tasks": ["Grasp water cup to cart."], "length": 518, "action_config": [{"start_frame": 0, "end_frame": 129, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 129, "end_frame": 258, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 258, "end_frame": 329, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 329, "end_frame": 381, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf and rotated its waist."}, {"start_frame": 381, "end_frame": 425, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}, {"start_frame": 425, "end_frame": 518, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}], "detailed_task_instruction": ["Rotate your waist to face the shelf, then pick up the red and white bagged disposable water cups from the third layer of the shelf. Rotate your waist again to face the shopping cart and place the red and white bagged disposable water cups into the shopping cart."]}
{"task_id": "take_cup_to_cart", "episode_index": 36, "video_path": "take_cup_to_cart/videos/chunk-000/{video_key}/episode_000036.mp4", "tasks": ["Grasp water cup to cart."], "length": 394, "action_config": [{"start_frame": 0, "end_frame": 93, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 93, "end_frame": 198, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 198, "end_frame": 279, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 279, "end_frame": 302, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf and rotated its waist."}, {"start_frame": 302, "end_frame": 318, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}, {"start_frame": 318, "end_frame": 394, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}], "detailed_task_instruction": ["Rotate your waist to face the shelf, then pick up the red and white bagged disposable water cups from the third layer of the shelf. Rotate your waist again to face the shopping cart and place the red and white bagged disposable water cups into the shopping cart."]}
{"task_id": "take_cup_to_cart", "episode_index": 37, "video_path": "take_cup_to_cart/videos/chunk-000/{video_key}/episode_000037.mp4", "tasks": ["Grasp water cup to cart."], "length": 440, "action_config": [{"start_frame": 0, "end_frame": 93, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 93, "end_frame": 210, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 210, "end_frame": 296, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 296, "end_frame": 330, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf and rotated its waist."}, {"start_frame": 330, "end_frame": 363, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}, {"start_frame": 363, "end_frame": 440, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}], "detailed_task_instruction": ["Rotate your waist to face the shelf, then pick up the red and white bagged disposable water cups from the third layer of the shelf. Rotate your waist again to face the shopping cart and place the red and white bagged disposable water cups into the shopping cart."]}
{"task_id": "take_cup_to_cart", "episode_index": 38, "video_path": "take_cup_to_cart/videos/chunk-000/{video_key}/episode_000038.mp4", "tasks": ["Grasp water cup to cart."], "length": 484, "action_config": [{"start_frame": 0, "end_frame": 113, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 113, "end_frame": 210, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 210, "end_frame": 291, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 291, "end_frame": 329, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf and rotated its waist."}, {"start_frame": 329, "end_frame": 371, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}, {"start_frame": 371, "end_frame": 484, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}], "detailed_task_instruction": ["Rotate your waist to face the shelf, then pick up the red and white bagged disposable water cups from the third layer of the shelf. Rotate your waist again to face the shopping cart and place the red and white bagged disposable water cups into the shopping cart."]}
{"task_id": "take_cup_to_cart", "episode_index": 39, "video_path": "take_cup_to_cart/videos/chunk-000/{video_key}/episode_000039.mp4", "tasks": ["Grasp water cup to cart."], "length": 421, "action_config": [{"start_frame": 0, "end_frame": 110, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 110, "end_frame": 204, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 204, "end_frame": 294, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 294, "end_frame": 332, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf and rotated its waist."}, {"start_frame": 332, "end_frame": 351, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}, {"start_frame": 351, "end_frame": 421, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}], "detailed_task_instruction": ["Rotate your waist to face the shelf, then pick up the red and white bagged disposable water cups from the third layer of the shelf. Rotate your waist again to face the shopping cart and place the red and white bagged disposable water cups into the shopping cart."]}
{"task_id": "take_cup_to_cart", "episode_index": 40, "video_path": "take_cup_to_cart/videos/chunk-000/{video_key}/episode_000040.mp4", "tasks": ["Grasp water cup to cart."], "length": 509, "action_config": [{"start_frame": 0, "end_frame": 78, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 78, "end_frame": 182, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 182, "end_frame": 267, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 267, "end_frame": 320, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf and rotated its waist."}, {"start_frame": 320, "end_frame": 381, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}, {"start_frame": 381, "end_frame": 509, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}], "detailed_task_instruction": ["Rotate your waist to face the shelf, then pick up the red and white bagged disposable water cups from the third layer of the shelf. Rotate your waist again to face the shopping cart and place the red and white bagged disposable water cups into the shopping cart."]}
{"task_id": "take_cup_to_cart", "episode_index": 41, "video_path": "take_cup_to_cart/videos/chunk-000/{video_key}/episode_000041.mp4", "tasks": ["Grasp water cup to cart."], "length": 421, "action_config": [{"start_frame": 0, "end_frame": 81, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 81, "end_frame": 198, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 198, "end_frame": 275, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 275, "end_frame": 312, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf and rotated its waist."}, {"start_frame": 312, "end_frame": 342, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}, {"start_frame": 342, "end_frame": 421, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}], "detailed_task_instruction": ["Rotate your waist to face the shelf, then pick up the red and white bagged disposable water cups from the third layer of the shelf. Rotate your waist again to face the shopping cart and place the red and white bagged disposable water cups into the shopping cart."]}
{"task_id": "take_cup_to_cart", "episode_index": 42, "video_path": "take_cup_to_cart/videos/chunk-000/{video_key}/episode_000042.mp4", "tasks": ["Grasp water cup to cart."], "length": 385, "action_config": [{"start_frame": 0, "end_frame": 110, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 110, "end_frame": 197, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 197, "end_frame": 278, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 278, "end_frame": 312, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf and rotated its waist."}, {"start_frame": 312, "end_frame": 339, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}, {"start_frame": 339, "end_frame": 385, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}], "detailed_task_instruction": ["Rotate your waist to face the shelf, then pick up the red and white bagged disposable water cups from the third layer of the shelf. Rotate your waist again to face the shopping cart and place the red and white bagged disposable water cups into the shopping cart."]}
{"task_id": "take_cup_to_cart", "episode_index": 43, "video_path": "take_cup_to_cart/videos/chunk-000/{video_key}/episode_000043.mp4", "tasks": ["Grasp water cup to cart."], "length": 412, "action_config": [{"start_frame": 0, "end_frame": 105, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 105, "end_frame": 189, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 189, "end_frame": 276, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 276, "end_frame": 291, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf and rotated its waist."}, {"start_frame": 291, "end_frame": 327, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}, {"start_frame": 327, "end_frame": 412, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}], "detailed_task_instruction": ["Rotate your waist to face the shelf, then pick up the red and white bagged disposable water cups from the third layer of the shelf. Rotate your waist again to face the shopping cart and place the red and white bagged disposable water cups into the shopping cart."]}
{"task_id": "take_cup_to_cart", "episode_index": 44, "video_path": "take_cup_to_cart/videos/chunk-000/{video_key}/episode_000044.mp4", "tasks": ["Grasp water cup to cart."], "length": 440, "action_config": [{"start_frame": 0, "end_frame": 84, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 84, "end_frame": 177, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 177, "end_frame": 255, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 255, "end_frame": 303, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf and rotated its waist."}, {"start_frame": 303, "end_frame": 390, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}, {"start_frame": 390, "end_frame": 440, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}], "detailed_task_instruction": ["Rotate your waist to face the shelf, then pick up the red and white bagged disposable water cups from the third layer of the shelf. Rotate your waist again to face the shopping cart and place the red and white bagged disposable water cups into the shopping cart."]}
{"task_id": "take_cup_to_cart", "episode_index": 45, "video_path": "take_cup_to_cart/videos/chunk-000/{video_key}/episode_000045.mp4", "tasks": ["Grasp water cup to cart."], "length": 458, "action_config": [{"start_frame": 0, "end_frame": 90, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 90, "end_frame": 225, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 225, "end_frame": 315, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 315, "end_frame": 354, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf and rotated its waist."}, {"start_frame": 354, "end_frame": 393, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}, {"start_frame": 393, "end_frame": 458, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}], "detailed_task_instruction": ["Rotate your waist to face the shelf, then pick up the red and white bagged disposable water cups from the third layer of the shelf. Rotate your waist again to face the shopping cart and place the red and white bagged disposable water cups into the shopping cart."]}
{"task_id": "take_cup_to_cart", "episode_index": 46, "video_path": "take_cup_to_cart/videos/chunk-000/{video_key}/episode_000046.mp4", "tasks": ["Grasp water cup to cart."], "length": 530, "action_config": [{"start_frame": 0, "end_frame": 102, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 102, "end_frame": 247, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 247, "end_frame": 352, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 352, "end_frame": 387, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf and rotated its waist."}, {"start_frame": 387, "end_frame": 441, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}, {"start_frame": 441, "end_frame": 530, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}], "detailed_task_instruction": ["Rotate your waist to face the shelf, then pick up the red and white bagged disposable water cups from the third layer of the shelf. Rotate your waist again to face the shopping cart and place the red and white bagged disposable water cups into the shopping cart."]}
{"task_id": "take_cup_to_cart", "episode_index": 47, "video_path": "take_cup_to_cart/videos/chunk-000/{video_key}/episode_000047.mp4", "tasks": ["Grasp water cup to cart."], "length": 498, "action_config": [{"start_frame": 0, "end_frame": 150, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 150, "end_frame": 237, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 237, "end_frame": 339, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 339, "end_frame": 389, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf and rotated its waist."}, {"start_frame": 389, "end_frame": 417, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}, {"start_frame": 417, "end_frame": 498, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}], "detailed_task_instruction": ["Rotate your waist to face the shelf, then pick up the red and white bagged disposable water cups from the third layer of the shelf. Rotate your waist again to face the shopping cart and place the red and white bagged disposable water cups into the shopping cart."]}
{"task_id": "take_cup_to_cart", "episode_index": 48, "video_path": "take_cup_to_cart/videos/chunk-000/{video_key}/episode_000048.mp4", "tasks": ["Grasp water cup to cart."], "length": 418, "action_config": [{"start_frame": 0, "end_frame": 99, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 99, "end_frame": 204, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 204, "end_frame": 276, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 276, "end_frame": 321, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf and rotated its waist."}, {"start_frame": 321, "end_frame": 353, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}, {"start_frame": 353, "end_frame": 418, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}], "detailed_task_instruction": ["Rotate your waist to face the shelf, then pick up the red and white bagged disposable water cups from the third layer of the shelf. Rotate your waist again to face the shopping cart and place the red and white bagged disposable water cups into the shopping cart."]}
{"task_id": "take_cup_to_cart", "episode_index": 49, "video_path": "take_cup_to_cart/videos/chunk-000/{video_key}/episode_000049.mp4", "tasks": ["Grasp water cup to cart."], "length": 419, "action_config": [{"start_frame": 0, "end_frame": 90, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 90, "end_frame": 216, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 216, "end_frame": 277, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 277, "end_frame": 330, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf and rotated its waist."}, {"start_frame": 330, "end_frame": 350, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}, {"start_frame": 350, "end_frame": 419, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}], "detailed_task_instruction": ["Rotate your waist to face the shelf, then pick up the red and white bagged disposable water cups from the third layer of the shelf. Rotate your waist again to face the shopping cart and place the red and white bagged disposable water cups into the shopping cart."]}
{"task_id": "take_cup_to_cart", "episode_index": 50, "video_path": "take_cup_to_cart/videos/chunk-000/{video_key}/episode_000050.mp4", "tasks": ["Grasp water cup to cart."], "length": 458, "action_config": [{"start_frame": 0, "end_frame": 105, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 105, "end_frame": 225, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 225, "end_frame": 299, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 299, "end_frame": 318, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf and rotated its waist."}, {"start_frame": 318, "end_frame": 382, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}, {"start_frame": 382, "end_frame": 458, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}], "detailed_task_instruction": ["Rotate your waist to face the shelf, then pick up the red and white bagged disposable water cups from the third layer of the shelf. Rotate your waist again to face the shopping cart and place the red and white bagged disposable water cups into the shopping cart."]}
{"task_id": "take_cup_to_cart", "episode_index": 51, "video_path": "take_cup_to_cart/videos/chunk-000/{video_key}/episode_000051.mp4", "tasks": ["Grasp water cup to cart."], "length": 389, "action_config": [{"start_frame": 0, "end_frame": 96, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 96, "end_frame": 168, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 168, "end_frame": 243, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 243, "end_frame": 260, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf and rotated its waist."}, {"start_frame": 260, "end_frame": 309, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}, {"start_frame": 309, "end_frame": 389, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}], "detailed_task_instruction": ["Rotate your waist to face the shelf, then pick up the red and white bagged disposable water cups from the third layer of the shelf. Rotate your waist again to face the shopping cart and place the red and white bagged disposable water cups into the shopping cart."]}
{"task_id": "take_cup_to_cart", "episode_index": 52, "video_path": "take_cup_to_cart/videos/chunk-000/{video_key}/episode_000052.mp4", "tasks": ["Grasp water cup to cart."], "length": 475, "action_config": [{"start_frame": 0, "end_frame": 102, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 102, "end_frame": 228, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 228, "end_frame": 312, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 312, "end_frame": 348, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf and rotated its waist."}, {"start_frame": 348, "end_frame": 396, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}, {"start_frame": 396, "end_frame": 475, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}], "detailed_task_instruction": ["Rotate your waist to face the shelf, then pick up the red and white bagged disposable water cups from the third layer of the shelf. Rotate your waist again to face the shopping cart and place the red and white bagged disposable water cups into the shopping cart."]}
{"task_id": "take_cup_to_cart", "episode_index": 53, "video_path": "take_cup_to_cart/videos/chunk-000/{video_key}/episode_000053.mp4", "tasks": ["Grasp water cup to cart."], "length": 466, "action_config": [{"start_frame": 0, "end_frame": 167, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 167, "end_frame": 288, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 288, "end_frame": 363, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 363, "end_frame": 393, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf and rotated its waist."}, {"start_frame": 393, "end_frame": 420, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}, {"start_frame": 420, "end_frame": 466, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}], "detailed_task_instruction": ["Rotate your waist to face the shelf, then pick up the red and white bagged disposable water cups from the third layer of the shelf. Rotate your waist again to face the shopping cart and place the red and white bagged disposable water cups into the shopping cart."]}
{"task_id": "take_cup_to_cart", "episode_index": 54, "video_path": "take_cup_to_cart/videos/chunk-000/{video_key}/episode_000054.mp4", "tasks": ["Grasp water cup to cart."], "length": 450, "action_config": [{"start_frame": 0, "end_frame": 75, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 75, "end_frame": 221, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 221, "end_frame": 342, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 342, "end_frame": 373, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf and rotated its waist."}, {"start_frame": 373, "end_frame": 401, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}, {"start_frame": 401, "end_frame": 450, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}], "detailed_task_instruction": ["Rotate your waist to face the shelf, then pick up the red and white bagged disposable water cups from the third layer of the shelf. Rotate your waist again to face the shopping cart and place the red and white bagged disposable water cups into the shopping cart."]}
{"task_id": "take_cup_to_cart", "episode_index": 55, "video_path": "take_cup_to_cart/videos/chunk-000/{video_key}/episode_000055.mp4", "tasks": ["Grasp water cup to cart."], "length": 398, "action_config": [{"start_frame": 0, "end_frame": 99, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 99, "end_frame": 198, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 198, "end_frame": 276, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 276, "end_frame": 311, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf and rotated its waist."}, {"start_frame": 311, "end_frame": 372, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}, {"start_frame": 372, "end_frame": 398, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}], "detailed_task_instruction": ["Rotate your waist to face the shelf, then pick up the red and white bagged disposable water cups from the third layer of the shelf. Rotate your waist again to face the shopping cart and place the red and white bagged disposable water cups into the shopping cart."]}
{"task_id": "take_cup_to_cart", "episode_index": 56, "video_path": "take_cup_to_cart/videos/chunk-000/{video_key}/episode_000056.mp4", "tasks": ["Grasp water cup to cart."], "length": 437, "action_config": [{"start_frame": 0, "end_frame": 81, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 81, "end_frame": 236, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 236, "end_frame": 311, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 311, "end_frame": 359, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf and rotated its waist."}, {"start_frame": 359, "end_frame": 408, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}, {"start_frame": 408, "end_frame": 437, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}], "detailed_task_instruction": ["Rotate your waist to face the shelf, then pick up the red and white bagged disposable water cups from the third layer of the shelf. Rotate your waist again to face the shopping cart and place the red and white bagged disposable water cups into the shopping cart."]}
{"task_id": "take_cup_to_cart", "episode_index": 57, "video_path": "take_cup_to_cart/videos/chunk-000/{video_key}/episode_000057.mp4", "tasks": ["Grasp water cup to cart."], "length": 491, "action_config": [{"start_frame": 0, "end_frame": 85, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 85, "end_frame": 177, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 177, "end_frame": 249, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 249, "end_frame": 293, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf and rotated its waist."}, {"start_frame": 293, "end_frame": 399, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}, {"start_frame": 399, "end_frame": 461, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}], "detailed_task_instruction": ["Rotate your waist to face the shelf, then pick up the red and white bagged disposable water cups from the third layer of the shelf. Rotate your waist again to face the shopping cart and place the red and white bagged disposable water cups into the shopping cart."]}
{"task_id": "take_cup_to_cart", "episode_index": 58, "video_path": "take_cup_to_cart/videos/chunk-000/{video_key}/episode_000058.mp4", "tasks": ["Grasp water cup to cart."], "length": 411, "action_config": [{"start_frame": 0, "end_frame": 93, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 93, "end_frame": 215, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 215, "end_frame": 291, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 291, "end_frame": 324, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf and rotated its waist."}, {"start_frame": 324, "end_frame": 384, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}, {"start_frame": 384, "end_frame": 411, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}], "detailed_task_instruction": ["Rotate your waist to face the shelf, then pick up the red and white bagged disposable water cups from the third layer of the shelf. Rotate your waist again to face the shopping cart and place the red and white bagged disposable water cups into the shopping cart."]}
{"task_id": "take_cup_to_cart", "episode_index": 59, "video_path": "take_cup_to_cart/videos/chunk-000/{video_key}/episode_000059.mp4", "tasks": ["Grasp water cup to cart."], "length": 528, "action_config": [{"start_frame": 0, "end_frame": 114, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 114, "end_frame": 261, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 261, "end_frame": 348, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 348, "end_frame": 384, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf and rotated its waist."}, {"start_frame": 384, "end_frame": 485, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}, {"start_frame": 485, "end_frame": 519, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}], "detailed_task_instruction": ["Rotate your waist to face the shelf, then pick up the red and white bagged disposable water cups from the third layer of the shelf. Rotate your waist again to face the shopping cart and place the red and white bagged disposable water cups into the shopping cart."]}
{"task_id": "take_cup_to_cart", "episode_index": 60, "video_path": "take_cup_to_cart/videos/chunk-000/{video_key}/episode_000060.mp4", "tasks": ["Grasp water cup to cart."], "length": 397, "action_config": [{"start_frame": 0, "end_frame": 74, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 74, "end_frame": 165, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 165, "end_frame": 250, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 250, "end_frame": 281, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf and rotated its waist."}, {"start_frame": 281, "end_frame": 360, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}, {"start_frame": 360, "end_frame": 389, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}], "detailed_task_instruction": ["Rotate your waist to face the shelf, then pick up the red and white bagged disposable water cups from the third layer of the shelf. Rotate your waist again to face the shopping cart and place the red and white bagged disposable water cups into the shopping cart."]}
{"task_id": "take_cup_to_cart", "episode_index": 61, "video_path": "take_cup_to_cart/videos/chunk-000/{video_key}/episode_000061.mp4", "tasks": ["Grasp water cup to cart."], "length": 422, "action_config": [{"start_frame": 0, "end_frame": 93, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 93, "end_frame": 219, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 219, "end_frame": 291, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 291, "end_frame": 327, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf and rotated its waist."}, {"start_frame": 327, "end_frame": 392, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}, {"start_frame": 392, "end_frame": 422, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}], "detailed_task_instruction": ["Rotate your waist to face the shelf, then pick up the red and white bagged disposable water cups from the third layer of the shelf. Rotate your waist again to face the shopping cart and place the red and white bagged disposable water cups into the shopping cart."]}
{"task_id": "take_cup_to_cart", "episode_index": 62, "video_path": "take_cup_to_cart/videos/chunk-000/{video_key}/episode_000062.mp4", "tasks": ["Grasp water cup to cart."], "length": 473, "action_config": [{"start_frame": 0, "end_frame": 114, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 114, "end_frame": 200, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 200, "end_frame": 291, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 291, "end_frame": 328, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf and rotated its waist."}, {"start_frame": 328, "end_frame": 423, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}, {"start_frame": 423, "end_frame": 455, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}], "detailed_task_instruction": ["Rotate your waist to face the shelf, then pick up the red and white bagged disposable water cups from the third layer of the shelf. Rotate your waist again to face the shopping cart and place the red and white bagged disposable water cups into the shopping cart."]}
{"task_id": "take_cup_to_cart", "episode_index": 63, "video_path": "take_cup_to_cart/videos/chunk-000/{video_key}/episode_000063.mp4", "tasks": ["Grasp water cup to cart."], "length": 552, "action_config": [{"start_frame": 0, "end_frame": 156, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 156, "end_frame": 332, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 332, "end_frame": 402, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 402, "end_frame": 441, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf and rotated its waist."}, {"start_frame": 441, "end_frame": 524, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}, {"start_frame": 524, "end_frame": 552, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}], "detailed_task_instruction": ["Rotate your waist to face the shelf, then pick up the red and white bagged disposable water cups from the third layer of the shelf. Rotate your waist again to face the shopping cart and place the red and white bagged disposable water cups into the shopping cart."]}
{"task_id": "take_cup_to_cart", "episode_index": 64, "video_path": "take_cup_to_cart/videos/chunk-000/{video_key}/episode_000064.mp4", "tasks": ["Grasp water cup to cart."], "length": 482, "action_config": [{"start_frame": 0, "end_frame": 92, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 92, "end_frame": 231, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 231, "end_frame": 312, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 312, "end_frame": 341, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf and rotated its waist."}, {"start_frame": 341, "end_frame": 435, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}, {"start_frame": 435, "end_frame": 468, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}], "detailed_task_instruction": ["Rotate your waist to face the shelf, then pick up the red and white bagged disposable water cups from the third layer of the shelf. Rotate your waist again to face the shopping cart and place the red and white bagged disposable water cups into the shopping cart."]}
{"task_id": "take_cup_to_cart", "episode_index": 65, "video_path": "take_cup_to_cart/videos/chunk-000/{video_key}/episode_000065.mp4", "tasks": ["Grasp water cup to cart."], "length": 541, "action_config": [{"start_frame": 0, "end_frame": 147, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 147, "end_frame": 271, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 271, "end_frame": 363, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 363, "end_frame": 398, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf and rotated its waist."}, {"start_frame": 398, "end_frame": 492, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}, {"start_frame": 492, "end_frame": 522, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}], "detailed_task_instruction": ["Rotate your waist to face the shelf, then pick up the red and white bagged disposable water cups from the third layer of the shelf. Rotate your waist again to face the shopping cart and place the red and white bagged disposable water cups into the shopping cart."]}
{"task_id": "take_cup_to_cart", "episode_index": 66, "video_path": "take_cup_to_cart/videos/chunk-000/{video_key}/episode_000066.mp4", "tasks": ["Grasp water cup to cart."], "length": 414, "action_config": [{"start_frame": 0, "end_frame": 101, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 101, "end_frame": 210, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 210, "end_frame": 289, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 289, "end_frame": 316, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf and rotated its waist."}, {"start_frame": 316, "end_frame": 383, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}, {"start_frame": 383, "end_frame": 414, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}], "detailed_task_instruction": ["Rotate your waist to face the shelf, then pick up the red and white bagged disposable water cups from the third layer of the shelf. Rotate your waist again to face the shopping cart and place the red and white bagged disposable water cups into the shopping cart."]}
{"task_id": "take_cup_to_cart", "episode_index": 67, "video_path": "take_cup_to_cart/videos/chunk-000/{video_key}/episode_000067.mp4", "tasks": ["Grasp water cup to cart."], "length": 493, "action_config": [{"start_frame": 0, "end_frame": 117, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 117, "end_frame": 264, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 264, "end_frame": 364, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 364, "end_frame": 402, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf and rotated its waist."}, {"start_frame": 402, "end_frame": 455, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}, {"start_frame": 455, "end_frame": 483, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}], "detailed_task_instruction": ["Rotate your waist to face the shelf, then pick up the red and white bagged disposable water cups from the third layer of the shelf. Rotate your waist again to face the shopping cart and place the red and white bagged disposable water cups into the shopping cart."]}
{"task_id": "take_cup_to_cart", "episode_index": 68, "video_path": "take_cup_to_cart/videos/chunk-000/{video_key}/episode_000068.mp4", "tasks": ["Grasp water cup to cart."], "length": 405, "action_config": [{"start_frame": 0, "end_frame": 75, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 75, "end_frame": 179, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 179, "end_frame": 257, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 257, "end_frame": 288, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf and rotated its waist."}, {"start_frame": 288, "end_frame": 360, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}, {"start_frame": 360, "end_frame": 390, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}], "detailed_task_instruction": ["Rotate your waist to face the shelf, then pick up the red and white bagged disposable water cups from the third layer of the shelf. Rotate your waist again to face the shopping cart and place the red and white bagged disposable water cups into the shopping cart."]}
{"task_id": "take_cup_to_cart", "episode_index": 69, "video_path": "take_cup_to_cart/videos/chunk-000/{video_key}/episode_000069.mp4", "tasks": ["Grasp water cup to cart."], "length": 446, "action_config": [{"start_frame": 0, "end_frame": 90, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 90, "end_frame": 180, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 180, "end_frame": 252, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 252, "end_frame": 294, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf and rotated its waist."}, {"start_frame": 294, "end_frame": 408, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}, {"start_frame": 408, "end_frame": 446, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}], "detailed_task_instruction": ["Rotate your waist to face the shelf, then pick up the red and white bagged disposable water cups from the third layer of the shelf. Rotate your waist again to face the shopping cart and place the red and white bagged disposable water cups into the shopping cart."]}
{"task_id": "take_cup_to_cart", "episode_index": 70, "video_path": "take_cup_to_cart/videos/chunk-000/{video_key}/episode_000070.mp4", "tasks": ["Grasp water cup to cart."], "length": 421, "action_config": [{"start_frame": 0, "end_frame": 116, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 116, "end_frame": 223, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 223, "end_frame": 308, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 308, "end_frame": 348, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf and rotated its waist."}, {"start_frame": 348, "end_frame": 393, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}, {"start_frame": 393, "end_frame": 421, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}], "detailed_task_instruction": ["Rotate your waist to face the shelf, then pick up the red and white bagged disposable water cups from the third layer of the shelf. Rotate your waist again to face the shopping cart and place the red and white bagged disposable water cups into the shopping cart."]}
{"task_id": "take_cup_to_cart", "episode_index": 71, "video_path": "take_cup_to_cart/videos/chunk-000/{video_key}/episode_000071.mp4", "tasks": ["Grasp water cup to cart."], "length": 511, "action_config": [{"start_frame": 0, "end_frame": 126, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 126, "end_frame": 276, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 276, "end_frame": 365, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 365, "end_frame": 393, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf and rotated its waist."}, {"start_frame": 393, "end_frame": 470, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}, {"start_frame": 470, "end_frame": 501, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}], "detailed_task_instruction": ["Rotate your waist to face the shelf, then pick up the red and white bagged disposable water cups from the third layer of the shelf. Rotate your waist again to face the shopping cart and place the red and white bagged disposable water cups into the shopping cart."]}
{"task_id": "take_cup_to_cart", "episode_index": 72, "video_path": "take_cup_to_cart/videos/chunk-000/{video_key}/episode_000072.mp4", "tasks": ["Grasp water cup to cart."], "length": 464, "action_config": [{"start_frame": 0, "end_frame": 110, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 110, "end_frame": 232, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 232, "end_frame": 312, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 312, "end_frame": 347, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf and rotated its waist."}, {"start_frame": 347, "end_frame": 430, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}, {"start_frame": 430, "end_frame": 464, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}], "detailed_task_instruction": ["Rotate your waist to face the shelf, then pick up the red and white bagged disposable water cups from the third layer of the shelf. Rotate your waist again to face the shopping cart and place the red and white bagged disposable water cups into the shopping cart."]}
{"task_id": "take_cup_to_cart", "episode_index": 73, "video_path": "take_cup_to_cart/videos/chunk-000/{video_key}/episode_000073.mp4", "tasks": ["Grasp water cup to cart."], "length": 497, "action_config": [{"start_frame": 0, "end_frame": 128, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 128, "end_frame": 253, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 253, "end_frame": 353, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 353, "end_frame": 387, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf and rotated its waist."}, {"start_frame": 387, "end_frame": 465, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}, {"start_frame": 465, "end_frame": 497, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}], "detailed_task_instruction": ["Rotate your waist to face the shelf, then pick up the red and white bagged disposable water cups from the third layer of the shelf. Rotate your waist again to face the shopping cart and place the red and white bagged disposable water cups into the shopping cart."]}
{"task_id": "take_cup_to_cart", "episode_index": 74, "video_path": "take_cup_to_cart/videos/chunk-000/{video_key}/episode_000074.mp4", "tasks": ["Grasp water cup to cart."], "length": 558, "action_config": [{"start_frame": 0, "end_frame": 123, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 123, "end_frame": 306, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 306, "end_frame": 389, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 389, "end_frame": 426, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf and rotated its waist."}, {"start_frame": 426, "end_frame": 488, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}, {"start_frame": 488, "end_frame": 519, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}], "detailed_task_instruction": ["Rotate your waist to face the shelf, then pick up the red and white bagged disposable water cups from the third layer of the shelf. Rotate your waist again to face the shopping cart and place the red and white bagged disposable water cups into the shopping cart."]}
{"task_id": "take_cup_to_cart", "episode_index": 75, "video_path": "take_cup_to_cart/videos/chunk-000/{video_key}/episode_000075.mp4", "tasks": ["Grasp water cup to cart."], "length": 465, "action_config": [{"start_frame": 0, "end_frame": 117, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 117, "end_frame": 234, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 234, "end_frame": 315, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 315, "end_frame": 366, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf and rotated its waist."}, {"start_frame": 366, "end_frame": 423, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}, {"start_frame": 423, "end_frame": 456, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}], "detailed_task_instruction": ["Rotate your waist to face the shelf, then pick up the red and white bagged disposable water cups from the third layer of the shelf. Rotate your waist again to face the shopping cart and place the red and white bagged disposable water cups into the shopping cart."]}
{"task_id": "take_cup_to_cart", "episode_index": 76, "video_path": "take_cup_to_cart/videos/chunk-000/{video_key}/episode_000076.mp4", "tasks": ["Grasp water cup to cart."], "length": 510, "action_config": [{"start_frame": 0, "end_frame": 99, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 99, "end_frame": 242, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 242, "end_frame": 327, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 327, "end_frame": 356, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf and rotated its waist."}, {"start_frame": 356, "end_frame": 471, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}, {"start_frame": 471, "end_frame": 510, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}], "detailed_task_instruction": ["Rotate your waist to face the shelf, then pick up the red and white bagged disposable water cups from the third layer of the shelf. Rotate your waist again to face the shopping cart and place the red and white bagged disposable water cups into the shopping cart."]}
{"task_id": "take_cup_to_cart", "episode_index": 77, "video_path": "take_cup_to_cart/videos/chunk-000/{video_key}/episode_000077.mp4", "tasks": ["Grasp water cup to cart."], "length": 389, "action_config": [{"start_frame": 0, "end_frame": 80, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 80, "end_frame": 177, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 177, "end_frame": 247, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 247, "end_frame": 285, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf and rotated its waist."}, {"start_frame": 285, "end_frame": 354, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}, {"start_frame": 354, "end_frame": 383, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}], "detailed_task_instruction": ["Rotate your waist to face the shelf, then pick up the red and white bagged disposable water cups from the third layer of the shelf. Rotate your waist again to face the shopping cart and place the red and white bagged disposable water cups into the shopping cart."]}
{"task_id": "take_cup_to_cart", "episode_index": 78, "video_path": "take_cup_to_cart/videos/chunk-000/{video_key}/episode_000078.mp4", "tasks": ["Grasp water cup to cart."], "length": 412, "action_config": [{"start_frame": 0, "end_frame": 102, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 102, "end_frame": 187, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 187, "end_frame": 270, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 270, "end_frame": 309, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf and rotated its waist."}, {"start_frame": 309, "end_frame": 378, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}, {"start_frame": 378, "end_frame": 412, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}], "detailed_task_instruction": ["Rotate your waist to face the shelf, then pick up the red and white bagged disposable water cups from the third layer of the shelf. Rotate your waist again to face the shopping cart and place the red and white bagged disposable water cups into the shopping cart."]}
{"task_id": "take_cup_to_cart", "episode_index": 79, "video_path": "take_cup_to_cart/videos/chunk-000/{video_key}/episode_000079.mp4", "tasks": ["Grasp water cup to cart."], "length": 460, "action_config": [{"start_frame": 0, "end_frame": 99, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 99, "end_frame": 246, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 246, "end_frame": 327, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 327, "end_frame": 360, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf and rotated its waist."}, {"start_frame": 360, "end_frame": 423, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}, {"start_frame": 423, "end_frame": 460, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}], "detailed_task_instruction": ["Rotate your waist to face the shelf, then pick up the red and white bagged disposable water cups from the third layer of the shelf. Rotate your waist again to face the shopping cart and place the red and white bagged disposable water cups into the shopping cart."]}
{"task_id": "take_cup_to_cart", "episode_index": 80, "video_path": "take_cup_to_cart/videos/chunk-000/{video_key}/episode_000080.mp4", "tasks": ["Grasp water cup to cart."], "length": 422, "action_config": [{"start_frame": 0, "end_frame": 108, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 108, "end_frame": 202, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 202, "end_frame": 285, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 285, "end_frame": 318, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf and rotated its waist."}, {"start_frame": 318, "end_frame": 387, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}, {"start_frame": 387, "end_frame": 422, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}], "detailed_task_instruction": ["Rotate your waist to face the shelf, then pick up the red and white bagged disposable water cups from the third layer of the shelf. Rotate your waist again to face the shopping cart and place the red and white bagged disposable water cups into the shopping cart."]}
{"task_id": "take_cup_to_cart", "episode_index": 81, "video_path": "take_cup_to_cart/videos/chunk-000/{video_key}/episode_000081.mp4", "tasks": ["Grasp water cup to cart."], "length": 486, "action_config": [{"start_frame": 0, "end_frame": 97, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 97, "end_frame": 209, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 209, "end_frame": 305, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 305, "end_frame": 351, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf and rotated its waist."}, {"start_frame": 351, "end_frame": 441, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}, {"start_frame": 441, "end_frame": 480, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}], "detailed_task_instruction": ["Rotate your waist to face the shelf, then pick up the red and white bagged disposable water cups from the third layer of the shelf. Rotate your waist again to face the shopping cart and place the red and white bagged disposable water cups into the shopping cart."]}
{"task_id": "take_cup_to_cart", "episode_index": 82, "video_path": "take_cup_to_cart/videos/chunk-000/{video_key}/episode_000082.mp4", "tasks": ["Grasp water cup to cart."], "length": 481, "action_config": [{"start_frame": 0, "end_frame": 99, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 99, "end_frame": 224, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 224, "end_frame": 309, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 309, "end_frame": 342, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf and rotated its waist."}, {"start_frame": 342, "end_frame": 432, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}, {"start_frame": 432, "end_frame": 468, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}], "detailed_task_instruction": ["Rotate your waist to face the shelf, then pick up the red and white bagged disposable water cups from the third layer of the shelf. Rotate your waist again to face the shopping cart and place the red and white bagged disposable water cups into the shopping cart."]}
{"task_id": "take_cup_to_cart", "episode_index": 83, "video_path": "take_cup_to_cart/videos/chunk-000/{video_key}/episode_000083.mp4", "tasks": ["Grasp water cup to cart."], "length": 448, "action_config": [{"start_frame": 3, "end_frame": 110, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 110, "end_frame": 219, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 219, "end_frame": 294, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 294, "end_frame": 329, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf and rotated its waist."}, {"start_frame": 329, "end_frame": 399, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}, {"start_frame": 399, "end_frame": 435, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}], "detailed_task_instruction": ["Rotate your waist to face the shelf, then pick up the red and white bagged disposable water cups from the third layer of the shelf. Rotate your waist again to face the shopping cart and place the red and white bagged disposable water cups into the shopping cart."]}
{"task_id": "take_cup_to_cart", "episode_index": 84, "video_path": "take_cup_to_cart/videos/chunk-000/{video_key}/episode_000084.mp4", "tasks": ["Grasp water cup to cart."], "length": 425, "action_config": [{"start_frame": 0, "end_frame": 110, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 110, "end_frame": 210, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 210, "end_frame": 291, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 291, "end_frame": 315, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf and rotated its waist."}, {"start_frame": 315, "end_frame": 378, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}, {"start_frame": 378, "end_frame": 413, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}], "detailed_task_instruction": ["Rotate your waist to face the shelf, then pick up the red and white bagged disposable water cups from the third layer of the shelf. Rotate your waist again to face the shopping cart and place the red and white bagged disposable water cups into the shopping cart."]}
{"task_id": "take_cup_to_cart", "episode_index": 85, "video_path": "take_cup_to_cart/videos/chunk-000/{video_key}/episode_000085.mp4", "tasks": ["Grasp water cup to cart."], "length": 570, "action_config": [{"start_frame": 0, "end_frame": 99, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 99, "end_frame": 233, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 233, "end_frame": 327, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 327, "end_frame": 373, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf and rotated its waist."}, {"start_frame": 373, "end_frame": 522, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}, {"start_frame": 522, "end_frame": 570, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}], "detailed_task_instruction": ["Rotate your waist to face the shelf, then pick up the red and white bagged disposable water cups from the third layer of the shelf. Rotate your waist again to face the shopping cart and place the red and white bagged disposable water cups into the shopping cart."]}
{"task_id": "take_cup_to_cart", "episode_index": 86, "video_path": "take_cup_to_cart/videos/chunk-000/{video_key}/episode_000086.mp4", "tasks": ["Grasp water cup to cart."], "length": 353, "action_config": [{"start_frame": 0, "end_frame": 78, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 78, "end_frame": 153, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 153, "end_frame": 230, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 230, "end_frame": 265, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf and rotated its waist."}, {"start_frame": 265, "end_frame": 312, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}, {"start_frame": 312, "end_frame": 344, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}], "detailed_task_instruction": ["Rotate your waist to face the shelf, then pick up the red and white bagged disposable water cups from the third layer of the shelf. Rotate your waist again to face the shopping cart and place the red and white bagged disposable water cups into the shopping cart."]}
{"task_id": "take_cup_to_cart", "episode_index": 87, "video_path": "take_cup_to_cart/videos/chunk-000/{video_key}/episode_000087.mp4", "tasks": ["Grasp water cup to cart."], "length": 420, "action_config": [{"start_frame": 0, "end_frame": 82, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 82, "end_frame": 189, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 189, "end_frame": 267, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 267, "end_frame": 298, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf and rotated its waist."}, {"start_frame": 298, "end_frame": 363, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}, {"start_frame": 363, "end_frame": 390, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}], "detailed_task_instruction": ["Rotate your waist to face the shelf, then pick up the red and white bagged disposable water cups from the third layer of the shelf. Rotate your waist again to face the shopping cart and place the red and white bagged disposable water cups into the shopping cart."]}
{"task_id": "take_cup_to_cart", "episode_index": 88, "video_path": "take_cup_to_cart/videos/chunk-000/{video_key}/episode_000088.mp4", "tasks": ["Grasp water cup to cart."], "length": 422, "action_config": [{"start_frame": 0, "end_frame": 92, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 92, "end_frame": 183, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 183, "end_frame": 261, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 261, "end_frame": 285, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf and rotated its waist."}, {"start_frame": 285, "end_frame": 380, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}, {"start_frame": 380, "end_frame": 411, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}], "detailed_task_instruction": ["Rotate your waist to face the shelf, then pick up the red and white bagged disposable water cups from the third layer of the shelf. Rotate your waist again to face the shopping cart and place the red and white bagged disposable water cups into the shopping cart."]}
{"task_id": "take_cup_to_cart", "episode_index": 89, "video_path": "take_cup_to_cart/videos/chunk-000/{video_key}/episode_000089.mp4", "tasks": ["Grasp water cup to cart."], "length": 448, "action_config": [{"start_frame": 0, "end_frame": 105, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 105, "end_frame": 203, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 203, "end_frame": 282, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 282, "end_frame": 329, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf and rotated its waist."}, {"start_frame": 329, "end_frame": 403, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}, {"start_frame": 403, "end_frame": 437, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}], "detailed_task_instruction": ["Rotate your waist to face the shelf, then pick up the red and white bagged disposable water cups from the third layer of the shelf. Rotate your waist again to face the shopping cart and place the red and white bagged disposable water cups into the shopping cart."]}
{"task_id": "take_cup_to_cart", "episode_index": 90, "video_path": "take_cup_to_cart/videos/chunk-000/{video_key}/episode_000090.mp4", "tasks": ["Grasp water cup to cart."], "length": 429, "action_config": [{"start_frame": 0, "end_frame": 87, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 87, "end_frame": 188, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 188, "end_frame": 264, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 264, "end_frame": 300, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf and rotated its waist."}, {"start_frame": 300, "end_frame": 383, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}, {"start_frame": 383, "end_frame": 419, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}], "detailed_task_instruction": ["Rotate your waist to face the shelf, then pick up the red and white bagged disposable water cups from the third layer of the shelf. Rotate your waist again to face the shopping cart and place the red and white bagged disposable water cups into the shopping cart."]}
{"task_id": "take_cup_to_cart", "episode_index": 91, "video_path": "take_cup_to_cart/videos/chunk-000/{video_key}/episode_000091.mp4", "tasks": ["Grasp water cup to cart."], "length": 354, "action_config": [{"start_frame": 0, "end_frame": 83, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 83, "end_frame": 169, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 169, "end_frame": 225, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 225, "end_frame": 257, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf and rotated its waist."}, {"start_frame": 257, "end_frame": 316, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}, {"start_frame": 316, "end_frame": 346, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}], "detailed_task_instruction": ["Rotate your waist to face the shelf, then pick up the red and white bagged disposable water cups from the third layer of the shelf. Rotate your waist again to face the shopping cart and place the red and white bagged disposable water cups into the shopping cart."]}
{"task_id": "take_cup_to_cart", "episode_index": 92, "video_path": "take_cup_to_cart/videos/chunk-000/{video_key}/episode_000092.mp4", "tasks": ["Grasp water cup to cart."], "length": 405, "action_config": [{"start_frame": 0, "end_frame": 96, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 96, "end_frame": 180, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 180, "end_frame": 259, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 259, "end_frame": 302, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf and rotated its waist."}, {"start_frame": 302, "end_frame": 366, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}, {"start_frame": 366, "end_frame": 395, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}], "detailed_task_instruction": ["Rotate your waist to face the shelf, then pick up the red and white bagged disposable water cups from the third layer of the shelf. Rotate your waist again to face the shopping cart and place the red and white bagged disposable water cups into the shopping cart."]}
{"task_id": "take_cup_to_cart", "episode_index": 93, "video_path": "take_cup_to_cart/videos/chunk-000/{video_key}/episode_000093.mp4", "tasks": ["Grasp water cup to cart."], "length": 489, "action_config": [{"start_frame": 0, "end_frame": 108, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 108, "end_frame": 236, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 236, "end_frame": 333, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 333, "end_frame": 372, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf and rotated its waist."}, {"start_frame": 372, "end_frame": 456, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}, {"start_frame": 456, "end_frame": 489, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}], "detailed_task_instruction": ["Rotate your waist to face the shelf, then pick up the red and white bagged disposable water cups from the third layer of the shelf. Rotate your waist again to face the shopping cart and place the red and white bagged disposable water cups into the shopping cart."]}
{"task_id": "take_cup_to_cart", "episode_index": 94, "video_path": "take_cup_to_cart/videos/chunk-000/{video_key}/episode_000094.mp4", "tasks": ["Grasp water cup to cart."], "length": 439, "action_config": [{"start_frame": 0, "end_frame": 140, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 140, "end_frame": 258, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 258, "end_frame": 336, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 336, "end_frame": 368, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf and rotated its waist."}, {"start_frame": 368, "end_frame": 412, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}, {"start_frame": 412, "end_frame": 439, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}], "detailed_task_instruction": ["Rotate your waist to face the shelf, then pick up the red and white bagged disposable water cups from the third layer of the shelf. Rotate your waist again to face the shopping cart and place the red and white bagged disposable water cups into the shopping cart."]}
{"task_id": "take_cup_to_cart", "episode_index": 95, "video_path": "take_cup_to_cart/videos/chunk-000/{video_key}/episode_000095.mp4", "tasks": ["Grasp water cup to cart."], "length": 410, "action_config": [{"start_frame": 0, "end_frame": 102, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 102, "end_frame": 210, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 210, "end_frame": 293, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 293, "end_frame": 329, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf and rotated its waist."}, {"start_frame": 329, "end_frame": 375, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}, {"start_frame": 375, "end_frame": 410, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}], "detailed_task_instruction": ["Rotate your waist to face the shelf, then pick up the red and white bagged disposable water cups from the third layer of the shelf. Rotate your waist again to face the shopping cart and place the red and white bagged disposable water cups into the shopping cart."]}
{"task_id": "take_cup_to_cart", "episode_index": 96, "video_path": "take_cup_to_cart/videos/chunk-000/{video_key}/episode_000096.mp4", "tasks": ["Grasp water cup to cart."], "length": 456, "action_config": [{"start_frame": 0, "end_frame": 105, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 105, "end_frame": 192, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 192, "end_frame": 286, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 286, "end_frame": 330, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf and rotated its waist."}, {"start_frame": 330, "end_frame": 408, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}, {"start_frame": 408, "end_frame": 444, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}], "detailed_task_instruction": ["Rotate your waist to face the shelf, then pick up the red and white bagged disposable water cups from the third layer of the shelf. Rotate your waist again to face the shopping cart and place the red and white bagged disposable water cups into the shopping cart."]}
{"task_id": "take_cup_to_cart", "episode_index": 97, "video_path": "take_cup_to_cart/videos/chunk-000/{video_key}/episode_000097.mp4", "tasks": ["Grasp water cup to cart."], "length": 479, "action_config": [{"start_frame": 0, "end_frame": 102, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 102, "end_frame": 189, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 189, "end_frame": 270, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 270, "end_frame": 339, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf and rotated its waist."}, {"start_frame": 339, "end_frame": 440, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}, {"start_frame": 440, "end_frame": 479, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}], "detailed_task_instruction": ["Rotate your waist to face the shelf, then pick up the red and white bagged disposable water cups from the third layer of the shelf. Rotate your waist again to face the shopping cart and place the red and white bagged disposable water cups into the shopping cart."]}
{"task_id": "take_cup_to_cart", "episode_index": 98, "video_path": "take_cup_to_cart/videos/chunk-000/{video_key}/episode_000098.mp4", "tasks": ["Grasp water cup to cart."], "length": 528, "action_config": [{"start_frame": 0, "end_frame": 103, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 103, "end_frame": 255, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 255, "end_frame": 353, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 353, "end_frame": 388, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf and rotated its waist."}, {"start_frame": 388, "end_frame": 477, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}, {"start_frame": 477, "end_frame": 516, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}], "detailed_task_instruction": ["Rotate your waist to face the shelf, then pick up the red and white bagged disposable water cups from the third layer of the shelf. Rotate your waist again to face the shopping cart and place the red and white bagged disposable water cups into the shopping cart."]}
{"task_id": "take_cup_to_cart", "episode_index": 99, "video_path": "take_cup_to_cart/videos/chunk-000/{video_key}/episode_000099.mp4", "tasks": ["Grasp water cup to cart."], "length": 439, "action_config": [{"start_frame": 0, "end_frame": 102, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 102, "end_frame": 219, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 219, "end_frame": 303, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 303, "end_frame": 344, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf and rotated its waist."}, {"start_frame": 344, "end_frame": 408, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}, {"start_frame": 408, "end_frame": 439, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}], "detailed_task_instruction": ["Rotate your waist to face the shelf, then pick up the red and white bagged disposable water cups from the third layer of the shelf. Rotate your waist again to face the shopping cart and place the red and white bagged disposable water cups into the shopping cart."]}
{"task_id": "take_cup_to_cart", "episode_index": 100, "video_path": "take_cup_to_cart/videos/chunk-000/{video_key}/episode_000100.mp4", "tasks": ["Grasp water cup to cart."], "length": 467, "action_config": [{"start_frame": 0, "end_frame": 126, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 126, "end_frame": 243, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 243, "end_frame": 330, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 330, "end_frame": 370, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf and rotated its waist."}, {"start_frame": 370, "end_frame": 438, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}, {"start_frame": 438, "end_frame": 467, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}], "detailed_task_instruction": ["Rotate your waist to face the shelf, then pick up the red and white bagged disposable water cups from the third layer of the shelf. Rotate your waist again to face the shopping cart and place the red and white bagged disposable water cups into the shopping cart."]}
{"task_id": "take_cup_to_cart", "episode_index": 101, "video_path": "take_cup_to_cart/videos/chunk-000/{video_key}/episode_000101.mp4", "tasks": ["Grasp water cup to cart."], "length": 369, "action_config": [{"start_frame": 0, "end_frame": 69, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 69, "end_frame": 146, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 146, "end_frame": 218, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 218, "end_frame": 250, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf and rotated its waist."}, {"start_frame": 250, "end_frame": 333, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}, {"start_frame": 333, "end_frame": 369, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}], "detailed_task_instruction": ["Rotate your waist to face the shelf, then pick up the red and white bagged disposable water cups from the third layer of the shelf. Rotate your waist again to face the shopping cart and place the red and white bagged disposable water cups into the shopping cart."]}
{"task_id": "take_cup_to_cart", "episode_index": 102, "video_path": "take_cup_to_cart/videos/chunk-000/{video_key}/episode_000102.mp4", "tasks": ["Grasp water cup to cart."], "length": 490, "action_config": [{"start_frame": 0, "end_frame": 94, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 94, "end_frame": 252, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 252, "end_frame": 336, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 336, "end_frame": 373, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf and rotated its waist."}, {"start_frame": 373, "end_frame": 438, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}, {"start_frame": 438, "end_frame": 467, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}], "detailed_task_instruction": ["Rotate your waist to face the shelf, then pick up the red and white bagged disposable water cups from the third layer of the shelf. Rotate your waist again to face the shopping cart and place the red and white bagged disposable water cups into the shopping cart."]}
{"task_id": "take_cup_to_cart", "episode_index": 103, "video_path": "take_cup_to_cart/videos/chunk-000/{video_key}/episode_000103.mp4", "tasks": ["Grasp water cup to cart."], "length": 548, "action_config": [{"start_frame": 0, "end_frame": 96, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 96, "end_frame": 255, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 255, "end_frame": 336, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 336, "end_frame": 419, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf and rotated its waist."}, {"start_frame": 419, "end_frame": 510, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}, {"start_frame": 510, "end_frame": 548, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}], "detailed_task_instruction": ["Rotate your waist to face the shelf, then pick up the red and white bagged disposable water cups from the third layer of the shelf. Rotate your waist again to face the shopping cart and place the red and white bagged disposable water cups into the shopping cart."]}
{"task_id": "take_cup_to_cart", "episode_index": 104, "video_path": "take_cup_to_cart/videos/chunk-000/{video_key}/episode_000104.mp4", "tasks": ["Grasp water cup to cart."], "length": 668, "action_config": [{"start_frame": 0, "end_frame": 150, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 150, "end_frame": 326, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 326, "end_frame": 486, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 486, "end_frame": 521, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf and rotated its waist."}, {"start_frame": 521, "end_frame": 624, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}, {"start_frame": 624, "end_frame": 660, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}], "detailed_task_instruction": ["Rotate your waist to face the shelf, then pick up the red and white bagged disposable water cups from the third layer of the shelf. Rotate your waist again to face the shopping cart and place the red and white bagged disposable water cups into the shopping cart."]}
{"task_id": "take_cup_to_cart", "episode_index": 105, "video_path": "take_cup_to_cart/videos/chunk-000/{video_key}/episode_000105.mp4", "tasks": ["Grasp water cup to cart."], "length": 590, "action_config": [{"start_frame": 0, "end_frame": 101, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 101, "end_frame": 231, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 231, "end_frame": 306, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 306, "end_frame": 348, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf and rotated its waist."}, {"start_frame": 348, "end_frame": 545, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}, {"start_frame": 545, "end_frame": 582, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}], "detailed_task_instruction": ["Rotate your waist to face the shelf, then pick up the red and white bagged disposable water cups from the third layer of the shelf. Rotate your waist again to face the shopping cart and place the red and white bagged disposable water cups into the shopping cart."]}
{"task_id": "take_cup_to_cart", "episode_index": 106, "video_path": "take_cup_to_cart/videos/chunk-000/{video_key}/episode_000106.mp4", "tasks": ["Grasp water cup to cart."], "length": 417, "action_config": [{"start_frame": 0, "end_frame": 101, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 101, "end_frame": 195, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 195, "end_frame": 266, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 266, "end_frame": 297, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf and rotated its waist."}, {"start_frame": 297, "end_frame": 384, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}, {"start_frame": 384, "end_frame": 417, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}], "detailed_task_instruction": ["Rotate your waist to face the shelf, then pick up the red and white bagged disposable water cups from the third layer of the shelf. Rotate your waist again to face the shopping cart and place the red and white bagged disposable water cups into the shopping cart."]}
{"task_id": "take_cup_to_cart", "episode_index": 107, "video_path": "take_cup_to_cart/videos/chunk-000/{video_key}/episode_000107.mp4", "tasks": ["Grasp water cup to cart."], "length": 511, "action_config": [{"start_frame": 18, "end_frame": 134, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 134, "end_frame": 255, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 255, "end_frame": 347, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 347, "end_frame": 395, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf and rotated its waist."}, {"start_frame": 395, "end_frame": 470, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}, {"start_frame": 470, "end_frame": 511, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}], "detailed_task_instruction": ["Rotate your waist to face the shelf, then pick up the red and white bagged disposable water cups from the third layer of the shelf. Rotate your waist again to face the shopping cart and place the red and white bagged disposable water cups into the shopping cart."]}
{"task_id": "take_cup_to_cart", "episode_index": 108, "video_path": "take_cup_to_cart/videos/chunk-000/{video_key}/episode_000108.mp4", "tasks": ["Grasp water cup to cart."], "length": 461, "action_config": [{"start_frame": 0, "end_frame": 108, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 108, "end_frame": 216, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 216, "end_frame": 294, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 294, "end_frame": 333, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf and rotated its waist."}, {"start_frame": 333, "end_frame": 400, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}, {"start_frame": 400, "end_frame": 437, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}], "detailed_task_instruction": ["Rotate your waist to face the shelf, then pick up the red and white bagged disposable water cups from the third layer of the shelf. Rotate your waist again to face the shopping cart and place the red and white bagged disposable water cups into the shopping cart."]}
{"task_id": "take_cup_to_cart", "episode_index": 109, "video_path": "take_cup_to_cart/videos/chunk-000/{video_key}/episode_000109.mp4", "tasks": ["Grasp water cup to cart."], "length": 457, "action_config": [{"start_frame": 0, "end_frame": 98, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 98, "end_frame": 213, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 213, "end_frame": 281, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 281, "end_frame": 317, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf and rotated its waist."}, {"start_frame": 317, "end_frame": 416, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}, {"start_frame": 416, "end_frame": 446, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}], "detailed_task_instruction": ["Rotate your waist to face the shelf, then pick up the red and white bagged disposable water cups from the third layer of the shelf. Rotate your waist again to face the shopping cart and place the red and white bagged disposable water cups into the shopping cart."]}
{"task_id": "take_cup_to_cart", "episode_index": 110, "video_path": "take_cup_to_cart/videos/chunk-000/{video_key}/episode_000110.mp4", "tasks": ["Grasp water cup to cart."], "length": 635, "action_config": [{"start_frame": 0, "end_frame": 126, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 126, "end_frame": 312, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 312, "end_frame": 411, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 411, "end_frame": 446, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf and rotated its waist."}, {"start_frame": 446, "end_frame": 591, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}, {"start_frame": 591, "end_frame": 635, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}], "detailed_task_instruction": ["Rotate your waist to face the shelf, then pick up the red and white bagged disposable water cups from the third layer of the shelf. Rotate your waist again to face the shopping cart and place the red and white bagged disposable water cups into the shopping cart."]}
{"task_id": "take_cup_to_cart", "episode_index": 111, "video_path": "take_cup_to_cart/videos/chunk-000/{video_key}/episode_000111.mp4", "tasks": ["Grasp water cup to cart."], "length": 503, "action_config": [{"start_frame": 0, "end_frame": 120, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 120, "end_frame": 245, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 245, "end_frame": 345, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 345, "end_frame": 380, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf and rotated its waist."}, {"start_frame": 380, "end_frame": 464, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}, {"start_frame": 464, "end_frame": 503, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}], "detailed_task_instruction": ["Rotate your waist to face the shelf, then pick up the red and white bagged disposable water cups from the third layer of the shelf. Rotate your waist again to face the shopping cart and place the red and white bagged disposable water cups into the shopping cart."]}
{"task_id": "take_cup_to_cart", "episode_index": 112, "video_path": "take_cup_to_cart/videos/chunk-000/{video_key}/episode_000112.mp4", "tasks": ["Grasp water cup to cart."], "length": 411, "action_config": [{"start_frame": 0, "end_frame": 108, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 108, "end_frame": 200, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 200, "end_frame": 278, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 278, "end_frame": 311, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf and rotated its waist."}, {"start_frame": 311, "end_frame": 366, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}, {"start_frame": 366, "end_frame": 398, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}], "detailed_task_instruction": ["Rotate your waist to face the shelf, then pick up the red and white bagged disposable water cups from the third layer of the shelf. Rotate your waist again to face the shopping cart and place the red and white bagged disposable water cups into the shopping cart."]}
{"task_id": "take_cup_to_cart", "episode_index": 113, "video_path": "take_cup_to_cart/videos/chunk-000/{video_key}/episode_000113.mp4", "tasks": ["Grasp water cup to cart."], "length": 474, "action_config": [{"start_frame": 0, "end_frame": 146, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 146, "end_frame": 246, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 246, "end_frame": 326, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 326, "end_frame": 357, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf and rotated its waist."}, {"start_frame": 357, "end_frame": 438, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}, {"start_frame": 438, "end_frame": 474, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}], "detailed_task_instruction": ["Rotate your waist to face the shelf, then pick up the red and white bagged disposable water cups from the third layer of the shelf. Rotate your waist again to face the shopping cart and place the red and white bagged disposable water cups into the shopping cart."]}
{"task_id": "take_cup_to_cart", "episode_index": 114, "video_path": "take_cup_to_cart/videos/chunk-000/{video_key}/episode_000114.mp4", "tasks": ["Grasp water cup to cart."], "length": 405, "action_config": [{"start_frame": 0, "end_frame": 114, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 114, "end_frame": 209, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 209, "end_frame": 285, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 285, "end_frame": 317, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf and rotated its waist."}, {"start_frame": 317, "end_frame": 354, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}, {"start_frame": 354, "end_frame": 386, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}], "detailed_task_instruction": ["Rotate your waist to face the shelf, then pick up the red and white bagged disposable water cups from the third layer of the shelf. Rotate your waist again to face the shopping cart and place the red and white bagged disposable water cups into the shopping cart."]}
{"task_id": "take_cup_to_cart", "episode_index": 115, "video_path": "take_cup_to_cart/videos/chunk-000/{video_key}/episode_000115.mp4", "tasks": ["Grasp water cup to cart."], "length": 448, "action_config": [{"start_frame": 0, "end_frame": 123, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 123, "end_frame": 206, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 206, "end_frame": 297, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 297, "end_frame": 333, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf and rotated its waist."}, {"start_frame": 333, "end_frame": 369, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}, {"start_frame": 369, "end_frame": 448, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}], "detailed_task_instruction": ["Rotate your waist to face the shelf, then pick up the red and white bagged disposable water cups from the third layer of the shelf. Rotate your waist again to face the shopping cart and place the red and white bagged disposable water cups into the shopping cart."]}
{"task_id": "take_cup_to_cart", "episode_index": 116, "video_path": "take_cup_to_cart/videos/chunk-000/{video_key}/episode_000116.mp4", "tasks": ["Grasp water cup to cart."], "length": 721, "action_config": [{"start_frame": 0, "end_frame": 146, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 146, "end_frame": 276, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 276, "end_frame": 378, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 378, "end_frame": 444, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf and rotated its waist."}, {"start_frame": 444, "end_frame": 509, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}, {"start_frame": 509, "end_frame": 721, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}], "detailed_task_instruction": ["Rotate your waist to face the shelf, then pick up the red and white bagged disposable water cups from the third layer of the shelf. Rotate your waist again to face the shopping cart and place the red and white bagged disposable water cups into the shopping cart."]}
{"task_id": "take_cup_to_cart", "episode_index": 117, "video_path": "take_cup_to_cart/videos/chunk-000/{video_key}/episode_000117.mp4", "tasks": ["Grasp water cup to cart."], "length": 483, "action_config": [{"start_frame": 0, "end_frame": 117, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 117, "end_frame": 219, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 219, "end_frame": 303, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 303, "end_frame": 323, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf and rotated its waist."}, {"start_frame": 323, "end_frame": 383, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}, {"start_frame": 383, "end_frame": 483, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}], "detailed_task_instruction": ["Rotate your waist to face the shelf, then pick up the red and white bagged disposable water cups from the third layer of the shelf. Rotate your waist again to face the shopping cart and place the red and white bagged disposable water cups into the shopping cart."]}
{"task_id": "take_cup_to_cart", "episode_index": 118, "video_path": "take_cup_to_cart/videos/chunk-000/{video_key}/episode_000118.mp4", "tasks": ["Grasp water cup to cart."], "length": 431, "action_config": [{"start_frame": 0, "end_frame": 91, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 91, "end_frame": 180, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 180, "end_frame": 260, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 260, "end_frame": 288, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf and rotated its waist."}, {"start_frame": 288, "end_frame": 323, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}, {"start_frame": 323, "end_frame": 431, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}], "detailed_task_instruction": ["Rotate your waist to face the shelf, then pick up the red and white bagged disposable water cups from the third layer of the shelf. Rotate your waist again to face the shopping cart and place the red and white bagged disposable water cups into the shopping cart."]}
{"task_id": "take_cup_to_cart", "episode_index": 119, "video_path": "take_cup_to_cart/videos/chunk-000/{video_key}/episode_000119.mp4", "tasks": ["Grasp water cup to cart."], "length": 516, "action_config": [{"start_frame": 0, "end_frame": 126, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 126, "end_frame": 245, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 245, "end_frame": 336, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 336, "end_frame": 367, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf and rotated its waist."}, {"start_frame": 367, "end_frame": 411, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}, {"start_frame": 411, "end_frame": 516, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}], "detailed_task_instruction": ["Rotate your waist to face the shelf, then pick up the red and white bagged disposable water cups from the third layer of the shelf. Rotate your waist again to face the shopping cart and place the red and white bagged disposable water cups into the shopping cart."]}
{"task_id": "take_cup_to_cart", "episode_index": 120, "video_path": "take_cup_to_cart/videos/chunk-000/{video_key}/episode_000120.mp4", "tasks": ["Grasp water cup to cart."], "length": 524, "action_config": [{"start_frame": 0, "end_frame": 92, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 92, "end_frame": 180, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 180, "end_frame": 273, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 273, "end_frame": 359, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf and rotated its waist."}, {"start_frame": 359, "end_frame": 402, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}, {"start_frame": 402, "end_frame": 524, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}], "detailed_task_instruction": ["Rotate your waist to face the shelf, then pick up the red and white bagged disposable water cups from the third layer of the shelf. Rotate your waist again to face the shopping cart and place the red and white bagged disposable water cups into the shopping cart."]}
{"task_id": "take_cup_to_cart", "episode_index": 121, "video_path": "take_cup_to_cart/videos/chunk-000/{video_key}/episode_000121.mp4", "tasks": ["Grasp water cup to cart."], "length": 527, "action_config": [{"start_frame": 0, "end_frame": 110, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 110, "end_frame": 249, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 249, "end_frame": 323, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 323, "end_frame": 379, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf and rotated its waist."}, {"start_frame": 379, "end_frame": 405, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}, {"start_frame": 405, "end_frame": 527, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}], "detailed_task_instruction": ["Rotate your waist to face the shelf, then pick up the red and white bagged disposable water cups from the third layer of the shelf. Rotate your waist again to face the shopping cart and place the red and white bagged disposable water cups into the shopping cart."]}
{"task_id": "take_cup_to_cart", "episode_index": 122, "video_path": "take_cup_to_cart/videos/chunk-000/{video_key}/episode_000122.mp4", "tasks": ["Grasp water cup to cart."], "length": 463, "action_config": [{"start_frame": 0, "end_frame": 106, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 106, "end_frame": 210, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 210, "end_frame": 285, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 285, "end_frame": 336, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf and rotated its waist."}, {"start_frame": 336, "end_frame": 387, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}, {"start_frame": 387, "end_frame": 463, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}], "detailed_task_instruction": ["Rotate your waist to face the shelf, then pick up the red and white bagged disposable water cups from the third layer of the shelf. Rotate your waist again to face the shopping cart and place the red and white bagged disposable water cups into the shopping cart."]}
{"task_id": "take_cup_to_cart", "episode_index": 123, "video_path": "take_cup_to_cart/videos/chunk-000/{video_key}/episode_000123.mp4", "tasks": ["Grasp water cup to cart."], "length": 472, "action_config": [{"start_frame": 0, "end_frame": 114, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 114, "end_frame": 240, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 240, "end_frame": 309, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 309, "end_frame": 354, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf and rotated its waist."}, {"start_frame": 354, "end_frame": 394, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}, {"start_frame": 394, "end_frame": 472, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}], "detailed_task_instruction": ["Rotate your waist to face the shelf, then pick up the red and white bagged disposable water cups from the third layer of the shelf. Rotate your waist again to face the shopping cart and place the red and white bagged disposable water cups into the shopping cart."]}
{"task_id": "take_cup_to_cart", "episode_index": 124, "video_path": "take_cup_to_cart/videos/chunk-000/{video_key}/episode_000124.mp4", "tasks": ["Grasp water cup to cart."], "length": 568, "action_config": [{"start_frame": 0, "end_frame": 156, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 156, "end_frame": 287, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 287, "end_frame": 380, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 380, "end_frame": 426, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf and rotated its waist."}, {"start_frame": 426, "end_frame": 444, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}, {"start_frame": 444, "end_frame": 568, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}], "detailed_task_instruction": ["Rotate your waist to face the shelf, then pick up the red and white bagged disposable water cups from the third layer of the shelf. Rotate your waist again to face the shopping cart and place the red and white bagged disposable water cups into the shopping cart."]}
{"task_id": "take_cup_to_cart", "episode_index": 125, "video_path": "take_cup_to_cart/videos/chunk-000/{video_key}/episode_000125.mp4", "tasks": ["Grasp water cup to cart."], "length": 599, "action_config": [{"start_frame": 0, "end_frame": 144, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 144, "end_frame": 318, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 318, "end_frame": 417, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 417, "end_frame": 445, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf and rotated its waist."}, {"start_frame": 445, "end_frame": 495, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}, {"start_frame": 495, "end_frame": 599, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}], "detailed_task_instruction": ["Rotate your waist to face the shelf, then pick up the red and white bagged disposable water cups from the third layer of the shelf. Rotate your waist again to face the shopping cart and place the red and white bagged disposable water cups into the shopping cart."]}
{"task_id": "take_cup_to_cart", "episode_index": 126, "video_path": "take_cup_to_cart/videos/chunk-000/{video_key}/episode_000126.mp4", "tasks": ["Grasp water cup to cart."], "length": 462, "action_config": [{"start_frame": 0, "end_frame": 107, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 107, "end_frame": 216, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 216, "end_frame": 295, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 295, "end_frame": 348, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf and rotated its waist."}, {"start_frame": 348, "end_frame": 385, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}, {"start_frame": 385, "end_frame": 462, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}], "detailed_task_instruction": ["Rotate your waist to face the shelf, then pick up the red and white bagged disposable water cups from the third layer of the shelf. Rotate your waist again to face the shopping cart and place the red and white bagged disposable water cups into the shopping cart."]}
{"task_id": "take_cup_to_cart", "episode_index": 127, "video_path": "take_cup_to_cart/videos/chunk-000/{video_key}/episode_000127.mp4", "tasks": ["Grasp water cup to cart."], "length": 508, "action_config": [{"start_frame": 0, "end_frame": 149, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 149, "end_frame": 252, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 252, "end_frame": 332, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 332, "end_frame": 370, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf and rotated its waist."}, {"start_frame": 370, "end_frame": 424, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}, {"start_frame": 424, "end_frame": 508, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}], "detailed_task_instruction": ["Rotate your waist to face the shelf, then pick up the red and white bagged disposable water cups from the third layer of the shelf. Rotate your waist again to face the shopping cart and place the red and white bagged disposable water cups into the shopping cart."]}
{"task_id": "take_cup_to_cart", "episode_index": 128, "video_path": "take_cup_to_cart/videos/chunk-000/{video_key}/episode_000128.mp4", "tasks": ["Grasp water cup to cart."], "length": 581, "action_config": [{"start_frame": 0, "end_frame": 152, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 152, "end_frame": 303, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 303, "end_frame": 396, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 396, "end_frame": 446, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf and rotated its waist."}, {"start_frame": 446, "end_frame": 467, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}, {"start_frame": 467, "end_frame": 581, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}], "detailed_task_instruction": ["Rotate your waist to face the shelf, then pick up the red and white bagged disposable water cups from the third layer of the shelf. Rotate your waist again to face the shopping cart and place the red and white bagged disposable water cups into the shopping cart."]}
{"task_id": "take_cup_to_cart", "episode_index": 129, "video_path": "take_cup_to_cart/videos/chunk-000/{video_key}/episode_000129.mp4", "tasks": ["Grasp water cup to cart."], "length": 517, "action_config": [{"start_frame": 0, "end_frame": 117, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 117, "end_frame": 248, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 248, "end_frame": 363, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 363, "end_frame": 404, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf and rotated its waist."}, {"start_frame": 404, "end_frame": 441, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}, {"start_frame": 441, "end_frame": 517, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}], "detailed_task_instruction": ["Rotate your waist to face the shelf, then pick up the red and white bagged disposable water cups from the third layer of the shelf. Rotate your waist again to face the shopping cart and place the red and white bagged disposable water cups into the shopping cart."]}
{"task_id": "take_cup_to_cart", "episode_index": 130, "video_path": "take_cup_to_cart/videos/chunk-000/{video_key}/episode_000130.mp4", "tasks": ["Grasp water cup to cart."], "length": 479, "action_config": [{"start_frame": 0, "end_frame": 113, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 113, "end_frame": 239, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 239, "end_frame": 321, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 321, "end_frame": 356, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf and rotated its waist."}, {"start_frame": 356, "end_frame": 392, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}, {"start_frame": 392, "end_frame": 479, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}], "detailed_task_instruction": ["Rotate your waist to face the shelf, then pick up the red and white bagged disposable water cups from the third layer of the shelf. Rotate your waist again to face the shopping cart and place the red and white bagged disposable water cups into the shopping cart."]}
{"task_id": "take_cup_to_cart", "episode_index": 131, "video_path": "take_cup_to_cart/videos/chunk-000/{video_key}/episode_000131.mp4", "tasks": ["Grasp water cup to cart."], "length": 588, "action_config": [{"start_frame": 0, "end_frame": 165, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 165, "end_frame": 321, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 321, "end_frame": 392, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 392, "end_frame": 444, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf and rotated its waist."}, {"start_frame": 444, "end_frame": 491, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}, {"start_frame": 491, "end_frame": 588, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}], "detailed_task_instruction": ["Rotate your waist to face the shelf, then pick up the red and white bagged disposable water cups from the third layer of the shelf. Rotate your waist again to face the shopping cart and place the red and white bagged disposable water cups into the shopping cart."]}
{"task_id": "take_cup_to_cart", "episode_index": 132, "video_path": "take_cup_to_cart/videos/chunk-000/{video_key}/episode_000132.mp4", "tasks": ["Grasp water cup to cart."], "length": 503, "action_config": [{"start_frame": 0, "end_frame": 135, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 135, "end_frame": 240, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 240, "end_frame": 325, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 325, "end_frame": 367, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf and rotated its waist."}, {"start_frame": 367, "end_frame": 417, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}, {"start_frame": 417, "end_frame": 503, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}], "detailed_task_instruction": ["Rotate your waist to face the shelf, then pick up the red and white bagged disposable water cups from the third layer of the shelf. Rotate your waist again to face the shopping cart and place the red and white bagged disposable water cups into the shopping cart."]}
{"task_id": "take_cup_to_cart", "episode_index": 133, "video_path": "take_cup_to_cart/videos/chunk-000/{video_key}/episode_000133.mp4", "tasks": ["Grasp water cup to cart."], "length": 452, "action_config": [{"start_frame": 0, "end_frame": 116, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 116, "end_frame": 206, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 206, "end_frame": 287, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 287, "end_frame": 321, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf and rotated its waist."}, {"start_frame": 321, "end_frame": 355, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}, {"start_frame": 355, "end_frame": 452, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}], "detailed_task_instruction": ["Rotate your waist to face the shelf, then pick up the red and white bagged disposable water cups from the third layer of the shelf. Rotate your waist again to face the shopping cart and place the red and white bagged disposable water cups into the shopping cart."]}
{"task_id": "take_cup_to_cart", "episode_index": 134, "video_path": "take_cup_to_cart/videos/chunk-000/{video_key}/episode_000134.mp4", "tasks": ["Grasp water cup to cart."], "length": 523, "action_config": [{"start_frame": 0, "end_frame": 134, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 134, "end_frame": 240, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 240, "end_frame": 329, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 329, "end_frame": 377, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf and rotated its waist."}, {"start_frame": 377, "end_frame": 412, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}, {"start_frame": 412, "end_frame": 523, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}], "detailed_task_instruction": ["Rotate your waist to face the shelf, then pick up the red and white bagged disposable water cups from the third layer of the shelf. Rotate your waist again to face the shopping cart and place the red and white bagged disposable water cups into the shopping cart."]}
{"task_id": "take_cup_to_cart", "episode_index": 135, "video_path": "take_cup_to_cart/videos/chunk-000/{video_key}/episode_000135.mp4", "tasks": ["Grasp water cup to cart."], "length": 537, "action_config": [{"start_frame": 0, "end_frame": 132, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 132, "end_frame": 250, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 250, "end_frame": 358, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 358, "end_frame": 396, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf and rotated its waist."}, {"start_frame": 396, "end_frame": 448, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}, {"start_frame": 448, "end_frame": 537, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}], "detailed_task_instruction": ["Rotate your waist to face the shelf, then pick up the red and white bagged disposable water cups from the third layer of the shelf. Rotate your waist again to face the shopping cart and place the red and white bagged disposable water cups into the shopping cart."]}
{"task_id": "take_cup_to_cart", "episode_index": 136, "video_path": "take_cup_to_cart/videos/chunk-000/{video_key}/episode_000136.mp4", "tasks": ["Grasp water cup to cart."], "length": 531, "action_config": [{"start_frame": 0, "end_frame": 132, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 132, "end_frame": 250, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 250, "end_frame": 358, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 358, "end_frame": 396, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf and rotated its waist."}, {"start_frame": 396, "end_frame": 448, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}, {"start_frame": 448, "end_frame": 537, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}], "detailed_task_instruction": ["Rotate your waist to face the shelf, then pick up the red and white bagged disposable water cups from the third layer of the shelf. Rotate your waist again to face the shopping cart and place the red and white bagged disposable water cups into the shopping cart."]}
{"task_id": "take_cup_to_cart", "episode_index": 137, "video_path": "take_cup_to_cart/videos/chunk-000/{video_key}/episode_000137.mp4", "tasks": ["Grasp water cup to cart."], "length": 566, "action_config": [{"start_frame": 0, "end_frame": 150, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 150, "end_frame": 273, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 273, "end_frame": 366, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 366, "end_frame": 399, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf and rotated its waist."}, {"start_frame": 399, "end_frame": 444, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}, {"start_frame": 444, "end_frame": 566, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}], "detailed_task_instruction": ["Rotate your waist to face the shelf, then pick up the red and white bagged disposable water cups from the third layer of the shelf. Rotate your waist again to face the shopping cart and place the red and white bagged disposable water cups into the shopping cart."]}
{"task_id": "take_cup_to_cart", "episode_index": 138, "video_path": "take_cup_to_cart/videos/chunk-000/{video_key}/episode_000138.mp4", "tasks": ["Grasp water cup to cart."], "length": 418, "action_config": [{"start_frame": 0, "end_frame": 90, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 90, "end_frame": 188, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 188, "end_frame": 279, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 279, "end_frame": 299, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf and rotated its waist."}, {"start_frame": 299, "end_frame": 354, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}, {"start_frame": 354, "end_frame": 418, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}], "detailed_task_instruction": ["Rotate your waist to face the shelf, then pick up the red and white bagged disposable water cups from the third layer of the shelf. Rotate your waist again to face the shopping cart and place the red and white bagged disposable water cups into the shopping cart."]}
{"task_id": "take_cup_to_cart", "episode_index": 139, "video_path": "take_cup_to_cart/videos/chunk-000/{video_key}/episode_000139.mp4", "tasks": ["Grasp water cup to cart."], "length": 502, "action_config": [{"start_frame": 0, "end_frame": 114, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 114, "end_frame": 203, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 203, "end_frame": 299, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 299, "end_frame": 342, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf and rotated its waist."}, {"start_frame": 342, "end_frame": 387, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}, {"start_frame": 387, "end_frame": 502, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}], "detailed_task_instruction": ["Rotate your waist to face the shelf, then pick up the red and white bagged disposable water cups from the third layer of the shelf. Rotate your waist again to face the shopping cart and place the red and white bagged disposable water cups into the shopping cart."]}
{"task_id": "take_cup_to_cart", "episode_index": 140, "video_path": "take_cup_to_cart/videos/chunk-000/{video_key}/episode_000140.mp4", "tasks": ["Grasp water cup to cart."], "length": 554, "action_config": [{"start_frame": 0, "end_frame": 123, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 123, "end_frame": 212, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 212, "end_frame": 303, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 303, "end_frame": 353, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf and rotated its waist."}, {"start_frame": 353, "end_frame": 410, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}, {"start_frame": 410, "end_frame": 554, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}], "detailed_task_instruction": ["Rotate your waist to face the shelf, then pick up the red and white bagged disposable water cups from the third layer of the shelf. Rotate your waist again to face the shopping cart and place the red and white bagged disposable water cups into the shopping cart."]}
{"task_id": "take_cup_to_cart", "episode_index": 141, "video_path": "take_cup_to_cart/videos/chunk-000/{video_key}/episode_000141.mp4", "tasks": ["Grasp water cup to cart."], "length": 584, "action_config": [{"start_frame": 0, "end_frame": 126, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 126, "end_frame": 267, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 267, "end_frame": 362, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 362, "end_frame": 402, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf and rotated its waist."}, {"start_frame": 402, "end_frame": 449, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}, {"start_frame": 449, "end_frame": 584, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}], "detailed_task_instruction": ["Rotate your waist to face the shelf, then pick up the red and white bagged disposable water cups from the third layer of the shelf. Rotate your waist again to face the shopping cart and place the red and white bagged disposable water cups into the shopping cart."]}
{"task_id": "take_cup_to_cart", "episode_index": 142, "video_path": "take_cup_to_cart/videos/chunk-000/{video_key}/episode_000142.mp4", "tasks": ["Grasp water cup to cart."], "length": 566, "action_config": [{"start_frame": 0, "end_frame": 141, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 141, "end_frame": 302, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 302, "end_frame": 387, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 387, "end_frame": 426, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf and rotated its waist."}, {"start_frame": 426, "end_frame": 492, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}, {"start_frame": 492, "end_frame": 566, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}], "detailed_task_instruction": ["Rotate your waist to face the shelf, then pick up the red and white bagged disposable water cups from the third layer of the shelf. Rotate your waist again to face the shopping cart and place the red and white bagged disposable water cups into the shopping cart."]}
{"task_id": "take_cup_to_cart", "episode_index": 143, "video_path": "take_cup_to_cart/videos/chunk-000/{video_key}/episode_000143.mp4", "tasks": ["Grasp water cup to cart."], "length": 440, "action_config": [{"start_frame": 0, "end_frame": 119, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 119, "end_frame": 228, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 228, "end_frame": 302, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 302, "end_frame": 339, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf and rotated its waist."}, {"start_frame": 339, "end_frame": 377, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}, {"start_frame": 377, "end_frame": 440, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}], "detailed_task_instruction": ["Rotate your waist to face the shelf, then pick up the red and white bagged disposable water cups from the third layer of the shelf. Rotate your waist again to face the shopping cart and place the red and white bagged disposable water cups into the shopping cart."]}
{"task_id": "take_cup_to_cart", "episode_index": 144, "video_path": "take_cup_to_cart/videos/chunk-000/{video_key}/episode_000144.mp4", "tasks": ["Grasp water cup to cart."], "length": 473, "action_config": [{"start_frame": 0, "end_frame": 140, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 140, "end_frame": 249, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 249, "end_frame": 332, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 332, "end_frame": 365, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf and rotated its waist."}, {"start_frame": 365, "end_frame": 395, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}, {"start_frame": 395, "end_frame": 473, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}], "detailed_task_instruction": ["Rotate your waist to face the shelf, then pick up the red and white bagged disposable water cups from the third layer of the shelf. Rotate your waist again to face the shopping cart and place the red and white bagged disposable water cups into the shopping cart."]}
{"task_id": "take_cup_to_cart", "episode_index": 145, "video_path": "take_cup_to_cart/videos/chunk-000/{video_key}/episode_000145.mp4", "tasks": ["Grasp water cup to cart."], "length": 585, "action_config": [{"start_frame": 0, "end_frame": 123, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 123, "end_frame": 210, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 210, "end_frame": 312, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 312, "end_frame": 366, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf and rotated its waist."}, {"start_frame": 366, "end_frame": 422, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}, {"start_frame": 422, "end_frame": 585, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}], "detailed_task_instruction": ["Rotate your waist to face the shelf, then pick up the red and white bagged disposable water cups from the third layer of the shelf. Rotate your waist again to face the shopping cart and place the red and white bagged disposable water cups into the shopping cart."]}
{"task_id": "take_cup_to_cart", "episode_index": 146, "video_path": "take_cup_to_cart/videos/chunk-000/{video_key}/episode_000146.mp4", "tasks": ["Grasp water cup to cart."], "length": 524, "action_config": [{"start_frame": 0, "end_frame": 141, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 141, "end_frame": 243, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 243, "end_frame": 324, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 324, "end_frame": 369, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf and rotated its waist."}, {"start_frame": 369, "end_frame": 415, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}, {"start_frame": 415, "end_frame": 524, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}], "detailed_task_instruction": ["Rotate your waist to face the shelf, then pick up the red and white bagged disposable water cups from the third layer of the shelf. Rotate your waist again to face the shopping cart and place the red and white bagged disposable water cups into the shopping cart."]}
{"task_id": "take_cup_to_cart", "episode_index": 147, "video_path": "take_cup_to_cart/videos/chunk-000/{video_key}/episode_000147.mp4", "tasks": ["Grasp water cup to cart."], "length": 455, "action_config": [{"start_frame": 0, "end_frame": 98, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 98, "end_frame": 207, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 207, "end_frame": 294, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 294, "end_frame": 341, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf and rotated its waist."}, {"start_frame": 341, "end_frame": 378, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}, {"start_frame": 378, "end_frame": 455, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}], "detailed_task_instruction": ["Rotate your waist to face the shelf, then pick up the red and white bagged disposable water cups from the third layer of the shelf. Rotate your waist again to face the shopping cart and place the red and white bagged disposable water cups into the shopping cart."]}
{"task_id": "take_cup_to_cart", "episode_index": 148, "video_path": "take_cup_to_cart/videos/chunk-000/{video_key}/episode_000148.mp4", "tasks": ["Grasp water cup to cart."], "length": 565, "action_config": [{"start_frame": 0, "end_frame": 161, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 161, "end_frame": 273, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 273, "end_frame": 375, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 375, "end_frame": 428, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf and rotated its waist."}, {"start_frame": 428, "end_frame": 441, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}, {"start_frame": 441, "end_frame": 565, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}], "detailed_task_instruction": ["Rotate your waist to face the shelf, then pick up the red and white bagged disposable water cups from the third layer of the shelf. Rotate your waist again to face the shopping cart and place the red and white bagged disposable water cups into the shopping cart."]}
{"task_id": "take_cup_to_cart", "episode_index": 149, "video_path": "take_cup_to_cart/videos/chunk-000/{video_key}/episode_000149.mp4", "tasks": ["Grasp water cup to cart."], "length": 519, "action_config": [{"start_frame": 0, "end_frame": 117, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 117, "end_frame": 206, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 206, "end_frame": 285, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 285, "end_frame": 387, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf and rotated its waist."}, {"start_frame": 387, "end_frame": 433, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}, {"start_frame": 433, "end_frame": 519, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}], "detailed_task_instruction": ["Rotate your waist to face the shelf, then pick up the red and white bagged disposable water cups from the third layer of the shelf. Rotate your waist again to face the shopping cart and place the red and white bagged disposable water cups into the shopping cart."]}
{"task_id": "take_cup_to_cart", "episode_index": 150, "video_path": "take_cup_to_cart/videos/chunk-000/{video_key}/episode_000150.mp4", "tasks": ["Grasp water cup to cart."], "length": 542, "action_config": [{"start_frame": 0, "end_frame": 116, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 116, "end_frame": 234, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 234, "end_frame": 312, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 312, "end_frame": 357, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf and rotated its waist."}, {"start_frame": 357, "end_frame": 398, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}, {"start_frame": 398, "end_frame": 542, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}], "detailed_task_instruction": ["Rotate your waist to face the shelf, then pick up the red and white bagged disposable water cups from the third layer of the shelf. Rotate your waist again to face the shopping cart and place the red and white bagged disposable water cups into the shopping cart."]}
{"task_id": "take_cup_to_cart", "episode_index": 151, "video_path": "take_cup_to_cart/videos/chunk-000/{video_key}/episode_000151.mp4", "tasks": ["Grasp water cup to cart."], "length": 474, "action_config": [{"start_frame": 0, "end_frame": 120, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 120, "end_frame": 231, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 231, "end_frame": 330, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 330, "end_frame": 363, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf and rotated its waist."}, {"start_frame": 363, "end_frame": 389, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}, {"start_frame": 389, "end_frame": 474, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}], "detailed_task_instruction": ["Rotate your waist to face the shelf, then pick up the red and white bagged disposable water cups from the third layer of the shelf. Rotate your waist again to face the shopping cart and place the red and white bagged disposable water cups into the shopping cart."]}
{"task_id": "take_cup_to_cart", "episode_index": 152, "video_path": "take_cup_to_cart/videos/chunk-000/{video_key}/episode_000152.mp4", "tasks": ["Grasp water cup to cart."], "length": 491, "action_config": [{"start_frame": 0, "end_frame": 138, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 138, "end_frame": 233, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 233, "end_frame": 330, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 330, "end_frame": 363, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf and rotated its waist."}, {"start_frame": 363, "end_frame": 395, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}, {"start_frame": 395, "end_frame": 491, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}], "detailed_task_instruction": ["Rotate your waist to face the shelf, then pick up the red and white bagged disposable water cups from the third layer of the shelf. Rotate your waist again to face the shopping cart and place the red and white bagged disposable water cups into the shopping cart."]}
{"task_id": "take_cup_to_cart", "episode_index": 153, "video_path": "take_cup_to_cart/videos/chunk-000/{video_key}/episode_000153.mp4", "tasks": ["Grasp water cup to cart."], "length": 652, "action_config": [{"start_frame": 0, "end_frame": 168, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 168, "end_frame": 332, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 332, "end_frame": 419, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 419, "end_frame": 468, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf and rotated its waist."}, {"start_frame": 468, "end_frame": 507, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}, {"start_frame": 507, "end_frame": 652, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}], "detailed_task_instruction": ["Rotate your waist to face the shelf, then pick up the red and white bagged disposable water cups from the third layer of the shelf. Rotate your waist again to face the shopping cart and place the red and white bagged disposable water cups into the shopping cart."]}
{"task_id": "take_cup_to_cart", "episode_index": 154, "video_path": "take_cup_to_cart/videos/chunk-000/{video_key}/episode_000154.mp4", "tasks": ["Grasp water cup to cart."], "length": 550, "action_config": [{"start_frame": 0, "end_frame": 138, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 138, "end_frame": 293, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 293, "end_frame": 374, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 374, "end_frame": 411, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf and rotated its waist."}, {"start_frame": 411, "end_frame": 444, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}, {"start_frame": 444, "end_frame": 550, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}], "detailed_task_instruction": ["Rotate your waist to face the shelf, then pick up the red and white bagged disposable water cups from the third layer of the shelf. Rotate your waist again to face the shopping cart and place the red and white bagged disposable water cups into the shopping cart."]}
{"task_id": "take_cup_to_cart", "episode_index": 155, "video_path": "take_cup_to_cart/videos/chunk-000/{video_key}/episode_000155.mp4", "tasks": ["Grasp water cup to cart."], "length": 476, "action_config": [{"start_frame": 0, "end_frame": 128, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 128, "end_frame": 224, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 224, "end_frame": 294, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 294, "end_frame": 339, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf and rotated its waist."}, {"start_frame": 339, "end_frame": 374, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}, {"start_frame": 374, "end_frame": 476, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}], "detailed_task_instruction": ["Rotate your waist to face the shelf, then pick up the red and white bagged disposable water cups from the third layer of the shelf. Rotate your waist again to face the shopping cart and place the red and white bagged disposable water cups into the shopping cart."]}
{"task_id": "take_cup_to_cart", "episode_index": 156, "video_path": "take_cup_to_cart/videos/chunk-000/{video_key}/episode_000156.mp4", "tasks": ["Grasp water cup to cart."], "length": 412, "action_config": [{"start_frame": 0, "end_frame": 108, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 108, "end_frame": 174, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 174, "end_frame": 249, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 249, "end_frame": 297, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf and rotated its waist."}, {"start_frame": 297, "end_frame": 315, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}, {"start_frame": 315, "end_frame": 412, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}], "detailed_task_instruction": ["Rotate your waist to face the shelf, then pick up the red and white bagged disposable water cups from the third layer of the shelf. Rotate your waist again to face the shopping cart and place the red and white bagged disposable water cups into the shopping cart."]}
{"task_id": "take_cup_to_cart", "episode_index": 157, "video_path": "take_cup_to_cart/videos/chunk-000/{video_key}/episode_000157.mp4", "tasks": ["Grasp water cup to cart."], "length": 499, "action_config": [{"start_frame": 0, "end_frame": 111, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 111, "end_frame": 203, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 203, "end_frame": 303, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 303, "end_frame": 348, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf and rotated its waist."}, {"start_frame": 348, "end_frame": 386, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}, {"start_frame": 386, "end_frame": 499, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}], "detailed_task_instruction": ["Rotate your waist to face the shelf, then pick up the red and white bagged disposable water cups from the third layer of the shelf. Rotate your waist again to face the shopping cart and place the red and white bagged disposable water cups into the shopping cart."]}
{"task_id": "take_cup_to_cart", "episode_index": 158, "video_path": "take_cup_to_cart/videos/chunk-000/{video_key}/episode_000158.mp4", "tasks": ["Grasp water cup to cart."], "length": 491, "action_config": [{"start_frame": 0, "end_frame": 108, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 108, "end_frame": 245, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 245, "end_frame": 312, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 312, "end_frame": 366, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf and rotated its waist."}, {"start_frame": 366, "end_frame": 395, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}, {"start_frame": 395, "end_frame": 491, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}], "detailed_task_instruction": ["Rotate your waist to face the shelf, then pick up the red and white bagged disposable water cups from the third layer of the shelf. Rotate your waist again to face the shopping cart and place the red and white bagged disposable water cups into the shopping cart."]}
{"task_id": "take_cup_to_cart", "episode_index": 159, "video_path": "take_cup_to_cart/videos/chunk-000/{video_key}/episode_000159.mp4", "tasks": ["Grasp water cup to cart."], "length": 589, "action_config": [{"start_frame": 0, "end_frame": 168, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 168, "end_frame": 315, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 315, "end_frame": 411, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 411, "end_frame": 456, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf and rotated its waist."}, {"start_frame": 456, "end_frame": 500, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}, {"start_frame": 500, "end_frame": 589, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}], "detailed_task_instruction": ["Rotate your waist to face the shelf, then pick up the red and white bagged disposable water cups from the third layer of the shelf. Rotate your waist again to face the shopping cart and place the red and white bagged disposable water cups into the shopping cart."]}
{"task_id": "take_cup_to_cart", "episode_index": 160, "video_path": "take_cup_to_cart/videos/chunk-000/{video_key}/episode_000160.mp4", "tasks": ["Grasp water cup to cart."], "length": 620, "action_config": [{"start_frame": 0, "end_frame": 174, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 174, "end_frame": 321, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 321, "end_frame": 413, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 413, "end_frame": 471, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf and rotated its waist."}, {"start_frame": 471, "end_frame": 513, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}, {"start_frame": 513, "end_frame": 620, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}], "detailed_task_instruction": ["Rotate your waist to face the shelf, then pick up the red and white bagged disposable water cups from the third layer of the shelf. Rotate your waist again to face the shopping cart and place the red and white bagged disposable water cups into the shopping cart."]}
{"task_id": "take_cup_to_cart", "episode_index": 161, "video_path": "take_cup_to_cart/videos/chunk-000/{video_key}/episode_000161.mp4", "tasks": ["Grasp water cup to cart."], "length": 500, "action_config": [{"start_frame": 0, "end_frame": 128, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 128, "end_frame": 251, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 251, "end_frame": 335, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 335, "end_frame": 396, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf and rotated its waist."}, {"start_frame": 396, "end_frame": 425, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}, {"start_frame": 425, "end_frame": 500, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}], "detailed_task_instruction": ["Rotate your waist to face the shelf, then pick up the red and white bagged disposable water cups from the third layer of the shelf. Rotate your waist again to face the shopping cart and place the red and white bagged disposable water cups into the shopping cart."]}
{"task_id": "take_cup_to_cart", "episode_index": 162, "video_path": "take_cup_to_cart/videos/chunk-000/{video_key}/episode_000162.mp4", "tasks": ["Grasp water cup to cart."], "length": 460, "action_config": [{"start_frame": 0, "end_frame": 120, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 120, "end_frame": 225, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 225, "end_frame": 320, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 320, "end_frame": 363, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf and rotated its waist."}, {"start_frame": 363, "end_frame": 375, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}, {"start_frame": 375, "end_frame": 460, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}], "detailed_task_instruction": ["Rotate your waist to face the shelf, then pick up the red and white bagged disposable water cups from the third layer of the shelf. Rotate your waist again to face the shopping cart and place the red and white bagged disposable water cups into the shopping cart."]}
{"task_id": "take_cup_to_cart", "episode_index": 163, "video_path": "take_cup_to_cart/videos/chunk-000/{video_key}/episode_000163.mp4", "tasks": ["Grasp water cup to cart."], "length": 471, "action_config": [{"start_frame": 0, "end_frame": 129, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 129, "end_frame": 220, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 220, "end_frame": 318, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 318, "end_frame": 357, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf and rotated its waist."}, {"start_frame": 357, "end_frame": 390, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}, {"start_frame": 390, "end_frame": 471, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}], "detailed_task_instruction": ["Rotate your waist to face the shelf, then pick up the red and white bagged disposable water cups from the third layer of the shelf. Rotate your waist again to face the shopping cart and place the red and white bagged disposable water cups into the shopping cart."]}
{"task_id": "take_cup_to_cart", "episode_index": 164, "video_path": "take_cup_to_cart/videos/chunk-000/{video_key}/episode_000164.mp4", "tasks": ["Grasp water cup to cart."], "length": 490, "action_config": [{"start_frame": 0, "end_frame": 113, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 113, "end_frame": 218, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 218, "end_frame": 288, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 288, "end_frame": 335, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf and rotated its waist."}, {"start_frame": 335, "end_frame": 372, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}, {"start_frame": 372, "end_frame": 490, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}], "detailed_task_instruction": ["Rotate your waist to face the shelf, then pick up the red and white bagged disposable water cups from the third layer of the shelf. Rotate your waist again to face the shopping cart and place the red and white bagged disposable water cups into the shopping cart."]}
{"task_id": "take_cup_to_cart", "episode_index": 165, "video_path": "take_cup_to_cart/videos/chunk-000/{video_key}/episode_000165.mp4", "tasks": ["Grasp water cup to cart."], "length": 586, "action_config": [{"start_frame": 0, "end_frame": 150, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 150, "end_frame": 266, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 266, "end_frame": 377, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 377, "end_frame": 426, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf and rotated its waist."}, {"start_frame": 426, "end_frame": 476, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}, {"start_frame": 476, "end_frame": 586, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}], "detailed_task_instruction": ["Rotate your waist to face the shelf, then pick up the red and white bagged disposable water cups from the third layer of the shelf. Rotate your waist again to face the shopping cart and place the red and white bagged disposable water cups into the shopping cart."]}
{"task_id": "take_cup_to_cart", "episode_index": 166, "video_path": "take_cup_to_cart/videos/chunk-000/{video_key}/episode_000166.mp4", "tasks": ["Grasp water cup to cart."], "length": 539, "action_config": [{"start_frame": 0, "end_frame": 225, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 225, "end_frame": 326, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 326, "end_frame": 393, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 393, "end_frame": 420, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf and rotated its waist."}, {"start_frame": 420, "end_frame": 458, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}, {"start_frame": 458, "end_frame": 539, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}], "detailed_task_instruction": ["Rotate your waist to face the shelf, then pick up the red and white bagged disposable water cups from the third layer of the shelf. Rotate your waist again to face the shopping cart and place the red and white bagged disposable water cups into the shopping cart."]}
{"task_id": "take_cup_to_cart", "episode_index": 167, "video_path": "take_cup_to_cart/videos/chunk-000/{video_key}/episode_000167.mp4", "tasks": ["Grasp water cup to cart."], "length": 601, "action_config": [{"start_frame": 0, "end_frame": 164, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 164, "end_frame": 291, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 291, "end_frame": 414, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 414, "end_frame": 462, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf and rotated its waist."}, {"start_frame": 462, "end_frame": 495, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}, {"start_frame": 495, "end_frame": 601, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}], "detailed_task_instruction": ["Rotate your waist to face the shelf, then pick up the red and white bagged disposable water cups from the third layer of the shelf. Rotate your waist again to face the shopping cart and place the red and white bagged disposable water cups into the shopping cart."]}
{"task_id": "take_cup_to_cart", "episode_index": 168, "video_path": "take_cup_to_cart/videos/chunk-000/{video_key}/episode_000168.mp4", "tasks": ["Grasp water cup to cart."], "length": 543, "action_config": [{"start_frame": 0, "end_frame": 101, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 101, "end_frame": 255, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 255, "end_frame": 330, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 330, "end_frame": 390, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf and rotated its waist."}, {"start_frame": 390, "end_frame": 426, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}, {"start_frame": 426, "end_frame": 543, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}], "detailed_task_instruction": ["Rotate your waist to face the shelf, then pick up the red and white bagged disposable water cups from the third layer of the shelf. Rotate your waist again to face the shopping cart and place the red and white bagged disposable water cups into the shopping cart."]}
{"task_id": "take_cup_to_cart", "episode_index": 169, "video_path": "take_cup_to_cart/videos/chunk-000/{video_key}/episode_000169.mp4", "tasks": ["Grasp water cup to cart."], "length": 577, "action_config": [{"start_frame": 0, "end_frame": 144, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 144, "end_frame": 321, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 321, "end_frame": 376, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 376, "end_frame": 428, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf and rotated its waist."}, {"start_frame": 428, "end_frame": 481, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}, {"start_frame": 481, "end_frame": 577, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}], "detailed_task_instruction": ["Rotate your waist to face the shelf, then pick up the red and white bagged disposable water cups from the third layer of the shelf. Rotate your waist again to face the shopping cart and place the red and white bagged disposable water cups into the shopping cart."]}
{"task_id": "take_cup_to_cart", "episode_index": 170, "video_path": "take_cup_to_cart/videos/chunk-000/{video_key}/episode_000170.mp4", "tasks": ["Grasp water cup to cart."], "length": 520, "action_config": [{"start_frame": 0, "end_frame": 120, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 120, "end_frame": 246, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 246, "end_frame": 340, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 340, "end_frame": 407, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf and rotated its waist."}, {"start_frame": 407, "end_frame": 443, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}, {"start_frame": 443, "end_frame": 520, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}], "detailed_task_instruction": ["Rotate your waist to face the shelf, then pick up the red and white bagged disposable water cups from the third layer of the shelf. Rotate your waist again to face the shopping cart and place the red and white bagged disposable water cups into the shopping cart."]}
{"task_id": "take_cup_to_cart", "episode_index": 171, "video_path": "take_cup_to_cart/videos/chunk-000/{video_key}/episode_000171.mp4", "tasks": ["Grasp water cup to cart."], "length": 448, "action_config": [{"start_frame": 0, "end_frame": 104, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 104, "end_frame": 204, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 204, "end_frame": 289, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 289, "end_frame": 330, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf and rotated its waist."}, {"start_frame": 330, "end_frame": 357, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}, {"start_frame": 357, "end_frame": 448, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}], "detailed_task_instruction": ["Rotate your waist to face the shelf, then pick up the red and white bagged disposable water cups from the third layer of the shelf. Rotate your waist again to face the shopping cart and place the red and white bagged disposable water cups into the shopping cart."]}
{"task_id": "take_cup_to_cart", "episode_index": 172, "video_path": "take_cup_to_cart/videos/chunk-000/{video_key}/episode_000172.mp4", "tasks": ["Grasp water cup to cart."], "length": 548, "action_config": [{"start_frame": 0, "end_frame": 165, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 165, "end_frame": 309, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 309, "end_frame": 396, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 396, "end_frame": 438, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf and rotated its waist."}, {"start_frame": 438, "end_frame": 471, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}, {"start_frame": 471, "end_frame": 548, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}], "detailed_task_instruction": ["Rotate your waist to face the shelf, then pick up the red and white bagged disposable water cups from the third layer of the shelf. Rotate your waist again to face the shopping cart and place the red and white bagged disposable water cups into the shopping cart."]}
{"task_id": "take_cup_to_cart", "episode_index": 173, "video_path": "take_cup_to_cart/videos/chunk-000/{video_key}/episode_000173.mp4", "tasks": ["Grasp water cup to cart."], "length": 547, "action_config": [{"start_frame": 0, "end_frame": 149, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 149, "end_frame": 282, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 282, "end_frame": 351, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 351, "end_frame": 396, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf and rotated its waist."}, {"start_frame": 396, "end_frame": 435, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}, {"start_frame": 435, "end_frame": 547, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}], "detailed_task_instruction": ["Rotate your waist to face the shelf, then pick up the red and white bagged disposable water cups from the third layer of the shelf. Rotate your waist again to face the shopping cart and place the red and white bagged disposable water cups into the shopping cart."]}
{"task_id": "take_cup_to_cart", "episode_index": 174, "video_path": "take_cup_to_cart/videos/chunk-000/{video_key}/episode_000174.mp4", "tasks": ["Grasp water cup to cart."], "length": 496, "action_config": [{"start_frame": 0, "end_frame": 141, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 141, "end_frame": 242, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 242, "end_frame": 324, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 324, "end_frame": 357, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf and rotated its waist."}, {"start_frame": 357, "end_frame": 401, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}, {"start_frame": 401, "end_frame": 496, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}], "detailed_task_instruction": ["Rotate your waist to face the shelf, then pick up the red and white bagged disposable water cups from the third layer of the shelf. Rotate your waist again to face the shopping cart and place the red and white bagged disposable water cups into the shopping cart."]}
{"task_id": "take_cup_to_cart", "episode_index": 175, "video_path": "take_cup_to_cart/videos/chunk-000/{video_key}/episode_000175.mp4", "tasks": ["Grasp water cup to cart."], "length": 505, "action_config": [{"start_frame": 0, "end_frame": 111, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 111, "end_frame": 219, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 219, "end_frame": 287, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 287, "end_frame": 354, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf and rotated its waist."}, {"start_frame": 354, "end_frame": 399, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}, {"start_frame": 399, "end_frame": 505, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}], "detailed_task_instruction": ["Rotate your waist to face the shelf, then pick up the red and white bagged disposable water cups from the third layer of the shelf. Rotate your waist again to face the shopping cart and place the red and white bagged disposable water cups into the shopping cart."]}
{"task_id": "take_cup_to_cart", "episode_index": 176, "video_path": "take_cup_to_cart/videos/chunk-000/{video_key}/episode_000176.mp4", "tasks": ["Grasp water cup to cart."], "length": 467, "action_config": [{"start_frame": 0, "end_frame": 111, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 111, "end_frame": 192, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 192, "end_frame": 276, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 276, "end_frame": 312, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf and rotated its waist."}, {"start_frame": 312, "end_frame": 375, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}, {"start_frame": 375, "end_frame": 467, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}], "detailed_task_instruction": ["Rotate your waist to face the shelf, then pick up the red and white bagged disposable water cups from the third layer of the shelf. Rotate your waist again to face the shopping cart and place the red and white bagged disposable water cups into the shopping cart."]}
{"task_id": "take_cup_to_cart", "episode_index": 177, "video_path": "take_cup_to_cart/videos/chunk-000/{video_key}/episode_000177.mp4", "tasks": ["Grasp water cup to cart."], "length": 528, "action_config": [{"start_frame": 0, "end_frame": 123, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 123, "end_frame": 236, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 236, "end_frame": 327, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 327, "end_frame": 352, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf and rotated its waist."}, {"start_frame": 352, "end_frame": 420, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}, {"start_frame": 420, "end_frame": 528, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}], "detailed_task_instruction": ["Rotate your waist to face the shelf, then pick up the red and white bagged disposable water cups from the third layer of the shelf. Rotate your waist again to face the shopping cart and place the red and white bagged disposable water cups into the shopping cart."]}
{"task_id": "take_cup_to_cart", "episode_index": 178, "video_path": "take_cup_to_cart/videos/chunk-000/{video_key}/episode_000178.mp4", "tasks": ["Grasp water cup to cart."], "length": 433, "action_config": [{"start_frame": 0, "end_frame": 123, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 123, "end_frame": 213, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 213, "end_frame": 299, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 299, "end_frame": 330, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf and rotated its waist."}, {"start_frame": 330, "end_frame": 354, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}, {"start_frame": 354, "end_frame": 433, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}], "detailed_task_instruction": ["Rotate your waist to face the shelf, then pick up the red and white bagged disposable water cups from the third layer of the shelf. Rotate your waist again to face the shopping cart and place the red and white bagged disposable water cups into the shopping cart."]}
{"task_id": "take_cup_to_cart", "episode_index": 179, "video_path": "take_cup_to_cart/videos/chunk-000/{video_key}/episode_000179.mp4", "tasks": ["Grasp water cup to cart."], "length": 447, "action_config": [{"start_frame": 0, "end_frame": 105, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 105, "end_frame": 206, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 206, "end_frame": 274, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 274, "end_frame": 317, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf and rotated its waist."}, {"start_frame": 317, "end_frame": 357, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}, {"start_frame": 357, "end_frame": 447, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}], "detailed_task_instruction": ["Rotate your waist to face the shelf, then pick up the red and white bagged disposable water cups from the third layer of the shelf. Rotate your waist again to face the shopping cart and place the red and white bagged disposable water cups into the shopping cart."]}
{"task_id": "take_cup_to_cart", "episode_index": 180, "video_path": "take_cup_to_cart/videos/chunk-000/{video_key}/episode_000180.mp4", "tasks": ["Grasp water cup to cart."], "length": 506, "action_config": [{"start_frame": 0, "end_frame": 138, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 138, "end_frame": 264, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 264, "end_frame": 342, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 342, "end_frame": 390, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf and rotated its waist."}, {"start_frame": 390, "end_frame": 422, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}, {"start_frame": 422, "end_frame": 506, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}], "detailed_task_instruction": ["Rotate your waist to face the shelf, then pick up the red and white bagged disposable water cups from the third layer of the shelf. Rotate your waist again to face the shopping cart and place the red and white bagged disposable water cups into the shopping cart."]}
{"task_id": "take_cup_to_cart", "episode_index": 181, "video_path": "take_cup_to_cart/videos/chunk-000/{video_key}/episode_000181.mp4", "tasks": ["Grasp water cup to cart."], "length": 488, "action_config": [{"start_frame": 0, "end_frame": 122, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 122, "end_frame": 222, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 222, "end_frame": 305, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 305, "end_frame": 333, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf and rotated its waist."}, {"start_frame": 333, "end_frame": 360, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}, {"start_frame": 360, "end_frame": 488, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}], "detailed_task_instruction": ["Rotate your waist to face the shelf, then pick up the red and white bagged disposable water cups from the third layer of the shelf. Rotate your waist again to face the shopping cart and place the red and white bagged disposable water cups into the shopping cart."]}
{"task_id": "take_cup_to_cart", "episode_index": 182, "video_path": "take_cup_to_cart/videos/chunk-000/{video_key}/episode_000182.mp4", "tasks": ["Grasp water cup to cart."], "length": 452, "action_config": [{"start_frame": 0, "end_frame": 104, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 104, "end_frame": 207, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 207, "end_frame": 282, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 282, "end_frame": 324, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf and rotated its waist."}, {"start_frame": 324, "end_frame": 336, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}, {"start_frame": 336, "end_frame": 452, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}], "detailed_task_instruction": ["Rotate your waist to face the shelf, then pick up the red and white bagged disposable water cups from the third layer of the shelf. Rotate your waist again to face the shopping cart and place the red and white bagged disposable water cups into the shopping cart."]}
{"task_id": "take_cup_to_cart", "episode_index": 183, "video_path": "take_cup_to_cart/videos/chunk-000/{video_key}/episode_000183.mp4", "tasks": ["Grasp water cup to cart."], "length": 455, "action_config": [{"start_frame": 0, "end_frame": 96, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 96, "end_frame": 192, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 192, "end_frame": 276, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 276, "end_frame": 304, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf and rotated its waist."}, {"start_frame": 304, "end_frame": 379, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}, {"start_frame": 379, "end_frame": 455, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}], "detailed_task_instruction": ["Rotate your waist to face the shelf, then pick up the red and white bagged disposable water cups from the third layer of the shelf. Rotate your waist again to face the shopping cart and place the red and white bagged disposable water cups into the shopping cart."]}
{"task_id": "take_cup_to_cart", "episode_index": 184, "video_path": "take_cup_to_cart/videos/chunk-000/{video_key}/episode_000184.mp4", "tasks": ["Grasp water cup to cart."], "length": 513, "action_config": [{"start_frame": 0, "end_frame": 120, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 120, "end_frame": 237, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 237, "end_frame": 315, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 315, "end_frame": 363, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf and rotated its waist."}, {"start_frame": 363, "end_frame": 401, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}, {"start_frame": 401, "end_frame": 513, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}], "detailed_task_instruction": ["Rotate your waist to face the shelf, then pick up the red and white bagged disposable water cups from the third layer of the shelf. Rotate your waist again to face the shopping cart and place the red and white bagged disposable water cups into the shopping cart."]}
{"task_id": "take_cup_to_cart", "episode_index": 185, "video_path": "take_cup_to_cart/videos/chunk-000/{video_key}/episode_000185.mp4", "tasks": ["Grasp water cup to cart."], "length": 547, "action_config": [{"start_frame": 0, "end_frame": 122, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 122, "end_frame": 237, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 237, "end_frame": 348, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 348, "end_frame": 398, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf and rotated its waist."}, {"start_frame": 398, "end_frame": 432, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}, {"start_frame": 432, "end_frame": 547, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}], "detailed_task_instruction": ["Rotate your waist to face the shelf, then pick up the red and white bagged disposable water cups from the third layer of the shelf. Rotate your waist again to face the shopping cart and place the red and white bagged disposable water cups into the shopping cart."]}
{"task_id": "take_cup_to_cart", "episode_index": 186, "video_path": "take_cup_to_cart/videos/chunk-000/{video_key}/episode_000186.mp4", "tasks": ["Grasp water cup to cart."], "length": 511, "action_config": [{"start_frame": 0, "end_frame": 131, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 131, "end_frame": 243, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 243, "end_frame": 332, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 332, "end_frame": 380, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf and rotated its waist."}, {"start_frame": 380, "end_frame": 411, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}, {"start_frame": 411, "end_frame": 501, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}], "detailed_task_instruction": ["Rotate your waist to face the shelf, then pick up the red and white bagged disposable water cups from the third layer of the shelf. Rotate your waist again to face the shopping cart and place the red and white bagged disposable water cups into the shopping cart."]}
{"task_id": "take_cup_to_cart", "episode_index": 187, "video_path": "take_cup_to_cart/videos/chunk-000/{video_key}/episode_000187.mp4", "tasks": ["Grasp water cup to cart."], "length": 452, "action_config": [{"start_frame": 0, "end_frame": 115, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 115, "end_frame": 211, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 211, "end_frame": 288, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 288, "end_frame": 351, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf and rotated its waist."}, {"start_frame": 351, "end_frame": 377, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}, {"start_frame": 377, "end_frame": 452, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}], "detailed_task_instruction": ["Rotate your waist to face the shelf, then pick up the red and white bagged disposable water cups from the third layer of the shelf. Rotate your waist again to face the shopping cart and place the red and white bagged disposable water cups into the shopping cart."]}
{"task_id": "take_cup_to_cart", "episode_index": 188, "video_path": "take_cup_to_cart/videos/chunk-000/{video_key}/episode_000188.mp4", "tasks": ["Grasp water cup to cart."], "length": 429, "action_config": [{"start_frame": 0, "end_frame": 105, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 105, "end_frame": 207, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 207, "end_frame": 285, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 285, "end_frame": 318, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf and rotated its waist."}, {"start_frame": 318, "end_frame": 348, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}, {"start_frame": 348, "end_frame": 429, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}], "detailed_task_instruction": ["Rotate your waist to face the shelf, then pick up the red and white bagged disposable water cups from the third layer of the shelf. Rotate your waist again to face the shopping cart and place the red and white bagged disposable water cups into the shopping cart."]}
{"task_id": "take_cup_to_cart", "episode_index": 189, "video_path": "take_cup_to_cart/videos/chunk-000/{video_key}/episode_000189.mp4", "tasks": ["Grasp water cup to cart."], "length": 536, "action_config": [{"start_frame": 0, "end_frame": 117, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 117, "end_frame": 267, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 267, "end_frame": 355, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 355, "end_frame": 390, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf and rotated its waist."}, {"start_frame": 390, "end_frame": 423, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}, {"start_frame": 423, "end_frame": 536, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}], "detailed_task_instruction": ["Rotate your waist to face the shelf, then pick up the red and white bagged disposable water cups from the third layer of the shelf. Rotate your waist again to face the shopping cart and place the red and white bagged disposable water cups into the shopping cart."]}
{"task_id": "take_cup_to_cart", "episode_index": 190, "video_path": "take_cup_to_cart/videos/chunk-000/{video_key}/episode_000190.mp4", "tasks": ["Grasp water cup to cart."], "length": 659, "action_config": [{"start_frame": 0, "end_frame": 157, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 157, "end_frame": 305, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 305, "end_frame": 402, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 402, "end_frame": 464, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf and rotated its waist."}, {"start_frame": 464, "end_frame": 543, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}, {"start_frame": 543, "end_frame": 659, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}], "detailed_task_instruction": ["Rotate your waist to face the shelf, then pick up the red and white bagged disposable water cups from the third layer of the shelf. Rotate your waist again to face the shopping cart and place the red and white bagged disposable water cups into the shopping cart."]}
{"task_id": "take_cup_to_cart", "episode_index": 191, "video_path": "take_cup_to_cart/videos/chunk-000/{video_key}/episode_000191.mp4", "tasks": ["Grasp water cup to cart."], "length": 569, "action_config": [{"start_frame": 0, "end_frame": 140, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 140, "end_frame": 266, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 266, "end_frame": 339, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 339, "end_frame": 405, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf and rotated its waist."}, {"start_frame": 405, "end_frame": 458, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}, {"start_frame": 458, "end_frame": 569, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}], "detailed_task_instruction": ["Rotate your waist to face the shelf, then pick up the red and white bagged disposable water cups from the third layer of the shelf. Rotate your waist again to face the shopping cart and place the red and white bagged disposable water cups into the shopping cart."]}
{"task_id": "take_cup_to_cart", "episode_index": 192, "video_path": "take_cup_to_cart/videos/chunk-000/{video_key}/episode_000192.mp4", "tasks": ["Grasp water cup to cart."], "length": 537, "action_config": [{"start_frame": 0, "end_frame": 118, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 118, "end_frame": 233, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 233, "end_frame": 335, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 335, "end_frame": 387, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf and rotated its waist."}, {"start_frame": 387, "end_frame": 462, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}, {"start_frame": 462, "end_frame": 511, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}], "detailed_task_instruction": ["Rotate your waist to face the shelf, then pick up the red and white bagged disposable water cups from the third layer of the shelf. Rotate your waist again to face the shopping cart and place the red and white bagged disposable water cups into the shopping cart."]}
{"task_id": "take_cup_to_cart", "episode_index": 193, "video_path": "take_cup_to_cart/videos/chunk-000/{video_key}/episode_000193.mp4", "tasks": ["Grasp water cup to cart."], "length": 441, "action_config": [{"start_frame": 0, "end_frame": 120, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 120, "end_frame": 200, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 200, "end_frame": 267, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 267, "end_frame": 318, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf and rotated its waist."}, {"start_frame": 318, "end_frame": 333, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}, {"start_frame": 333, "end_frame": 441, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}], "detailed_task_instruction": ["Rotate your waist to face the shelf, then pick up the red and white bagged disposable water cups from the third layer of the shelf. Rotate your waist again to face the shopping cart and place the red and white bagged disposable water cups into the shopping cart."]}
{"task_id": "take_cup_to_cart", "episode_index": 194, "video_path": "take_cup_to_cart/videos/chunk-000/{video_key}/episode_000194.mp4", "tasks": ["Grasp water cup to cart."], "length": 677, "action_config": [{"start_frame": 0, "end_frame": 150, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 150, "end_frame": 333, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 333, "end_frame": 438, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 438, "end_frame": 524, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf and rotated its waist."}, {"start_frame": 524, "end_frame": 543, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}, {"start_frame": 543, "end_frame": 677, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}], "detailed_task_instruction": ["Rotate your waist to face the shelf, then pick up the red and white bagged disposable water cups from the third layer of the shelf. Rotate your waist again to face the shopping cart and place the red and white bagged disposable water cups into the shopping cart."]}
{"task_id": "take_cup_to_cart", "episode_index": 195, "video_path": "take_cup_to_cart/videos/chunk-000/{video_key}/episode_000195.mp4", "tasks": ["Grasp water cup to cart."], "length": 416, "action_config": [{"start_frame": 0, "end_frame": 90, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 90, "end_frame": 185, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 185, "end_frame": 272, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 272, "end_frame": 306, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf and rotated its waist."}, {"start_frame": 306, "end_frame": 357, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}, {"start_frame": 357, "end_frame": 416, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}], "detailed_task_instruction": ["Rotate your waist to face the shelf, then pick up the red and white bagged disposable water cups from the third layer of the shelf. Rotate your waist again to face the shopping cart and place the red and white bagged disposable water cups into the shopping cart."]}
{"task_id": "take_cup_to_cart", "episode_index": 196, "video_path": "take_cup_to_cart/videos/chunk-000/{video_key}/episode_000196.mp4", "tasks": ["Grasp water cup to cart."], "length": 524, "action_config": [{"start_frame": 0, "end_frame": 138, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 138, "end_frame": 245, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 245, "end_frame": 333, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 333, "end_frame": 381, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf and rotated its waist."}, {"start_frame": 381, "end_frame": 411, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}, {"start_frame": 411, "end_frame": 524, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}], "detailed_task_instruction": ["Rotate your waist to face the shelf, then pick up the red and white bagged disposable water cups from the third layer of the shelf. Rotate your waist again to face the shopping cart and place the red and white bagged disposable water cups into the shopping cart."]}
{"task_id": "take_cup_to_cart", "episode_index": 197, "video_path": "take_cup_to_cart/videos/chunk-000/{video_key}/episode_000197.mp4", "tasks": ["Grasp water cup to cart."], "length": 470, "action_config": [{"start_frame": 0, "end_frame": 130, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 130, "end_frame": 242, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 242, "end_frame": 312, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 312, "end_frame": 345, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf and rotated its waist."}, {"start_frame": 345, "end_frame": 416, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}, {"start_frame": 416, "end_frame": 470, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}], "detailed_task_instruction": ["Rotate your waist to face the shelf, then pick up the red and white bagged disposable water cups from the third layer of the shelf. Rotate your waist again to face the shopping cart and place the red and white bagged disposable water cups into the shopping cart."]}
{"task_id": "take_cup_to_cart", "episode_index": 198, "video_path": "take_cup_to_cart/videos/chunk-000/{video_key}/episode_000198.mp4", "tasks": ["Grasp water cup to cart."], "length": 601, "action_config": [{"start_frame": 0, "end_frame": 173, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 173, "end_frame": 298, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 298, "end_frame": 402, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 402, "end_frame": 449, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf and rotated its waist."}, {"start_frame": 449, "end_frame": 495, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}, {"start_frame": 495, "end_frame": 601, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}], "detailed_task_instruction": ["Rotate your waist to face the shelf, then pick up the red and white bagged disposable water cups from the third layer of the shelf. Rotate your waist again to face the shopping cart and place the red and white bagged disposable water cups into the shopping cart."]}
{"task_id": "take_cup_to_cart", "episode_index": 199, "video_path": "take_cup_to_cart/videos/chunk-000/{video_key}/episode_000199.mp4", "tasks": ["Grasp water cup to cart."], "length": 486, "action_config": [{"start_frame": 0, "end_frame": 96, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 96, "end_frame": 230, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 230, "end_frame": 316, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 316, "end_frame": 351, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf and rotated its waist."}, {"start_frame": 351, "end_frame": 426, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}, {"start_frame": 426, "end_frame": 486, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}], "detailed_task_instruction": ["Rotate your waist to face the shelf, then pick up the red and white bagged disposable water cups from the third layer of the shelf. Rotate your waist again to face the shopping cart and place the red and white bagged disposable water cups into the shopping cart."]}
{"task_id": "take_cup_to_cart", "episode_index": 200, "video_path": "take_cup_to_cart/videos/chunk-000/{video_key}/episode_000200.mp4", "tasks": ["Grasp water cup to cart."], "length": 493, "action_config": [{"start_frame": 0, "end_frame": 115, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 115, "end_frame": 228, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 228, "end_frame": 302, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 302, "end_frame": 345, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf and rotated its waist."}, {"start_frame": 345, "end_frame": 411, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}, {"start_frame": 411, "end_frame": 493, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}], "detailed_task_instruction": ["Rotate your waist to face the shelf, then pick up the red and white bagged disposable water cups from the third layer of the shelf. Rotate your waist again to face the shopping cart and place the red and white bagged disposable water cups into the shopping cart."]}
{"task_id": "take_cup_to_cart", "episode_index": 201, "video_path": "take_cup_to_cart/videos/chunk-000/{video_key}/episode_000201.mp4", "tasks": ["Grasp water cup to cart."], "length": 499, "action_config": [{"start_frame": 0, "end_frame": 126, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 126, "end_frame": 218, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 218, "end_frame": 293, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 293, "end_frame": 340, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf and rotated its waist."}, {"start_frame": 340, "end_frame": 384, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}, {"start_frame": 384, "end_frame": 499, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}], "detailed_task_instruction": ["Rotate your waist to face the shelf, then pick up the red and white bagged disposable water cups from the third layer of the shelf. Rotate your waist again to face the shopping cart and place the red and white bagged disposable water cups into the shopping cart."]}
{"task_id": "take_cup_to_cart", "episode_index": 202, "video_path": "take_cup_to_cart/videos/chunk-000/{video_key}/episode_000202.mp4", "tasks": ["Grasp water cup to cart."], "length": 568, "action_config": [{"start_frame": 0, "end_frame": 129, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 129, "end_frame": 252, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 252, "end_frame": 347, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 347, "end_frame": 417, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf and rotated its waist."}, {"start_frame": 417, "end_frame": 444, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}, {"start_frame": 444, "end_frame": 568, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}], "detailed_task_instruction": ["Rotate your waist to face the shelf, then pick up the red and white bagged disposable water cups from the third layer of the shelf. Rotate your waist again to face the shopping cart and place the red and white bagged disposable water cups into the shopping cart."]}
{"task_id": "take_cup_to_cart", "episode_index": 203, "video_path": "take_cup_to_cart/videos/chunk-000/{video_key}/episode_000203.mp4", "tasks": ["Grasp water cup to cart."], "length": 464, "action_config": [{"start_frame": 0, "end_frame": 122, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 122, "end_frame": 215, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 215, "end_frame": 294, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 294, "end_frame": 345, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf and rotated its waist."}, {"start_frame": 345, "end_frame": 387, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}, {"start_frame": 387, "end_frame": 464, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}], "detailed_task_instruction": ["Rotate your waist to face the shelf, then pick up the red and white bagged disposable water cups from the third layer of the shelf. Rotate your waist again to face the shopping cart and place the red and white bagged disposable water cups into the shopping cart."]}
{"task_id": "take_cup_to_cart", "episode_index": 204, "video_path": "take_cup_to_cart/videos/chunk-000/{video_key}/episode_000204.mp4", "tasks": ["Grasp water cup to cart."], "length": 549, "action_config": [{"start_frame": 0, "end_frame": 152, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 152, "end_frame": 249, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 249, "end_frame": 338, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 338, "end_frame": 396, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf and rotated its waist."}, {"start_frame": 396, "end_frame": 441, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}, {"start_frame": 441, "end_frame": 549, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}], "detailed_task_instruction": ["Rotate your waist to face the shelf, then pick up the red and white bagged disposable water cups from the third layer of the shelf. Rotate your waist again to face the shopping cart and place the red and white bagged disposable water cups into the shopping cart."]}
{"task_id": "take_cup_to_cart", "episode_index": 205, "video_path": "take_cup_to_cart/videos/chunk-000/{video_key}/episode_000205.mp4", "tasks": ["Grasp water cup to cart."], "length": 453, "action_config": [{"start_frame": 0, "end_frame": 114, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 114, "end_frame": 207, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 207, "end_frame": 284, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 284, "end_frame": 328, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf and rotated its waist."}, {"start_frame": 328, "end_frame": 366, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}, {"start_frame": 366, "end_frame": 453, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}], "detailed_task_instruction": ["Rotate your waist to face the shelf, then pick up the red and white bagged disposable water cups from the third layer of the shelf. Rotate your waist again to face the shopping cart and place the red and white bagged disposable water cups into the shopping cart."]}
{"task_id": "take_cup_to_cart", "episode_index": 206, "video_path": "take_cup_to_cart/videos/chunk-000/{video_key}/episode_000206.mp4", "tasks": ["Grasp water cup to cart."], "length": 451, "action_config": [{"start_frame": 0, "end_frame": 132, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 132, "end_frame": 224, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 224, "end_frame": 309, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 309, "end_frame": 345, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf and rotated its waist."}, {"start_frame": 345, "end_frame": 376, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}, {"start_frame": 376, "end_frame": 451, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}], "detailed_task_instruction": ["Rotate your waist to face the shelf, then pick up the red and white bagged disposable water cups from the third layer of the shelf. Rotate your waist again to face the shopping cart and place the red and white bagged disposable water cups into the shopping cart."]}
{"task_id": "take_cup_to_cart", "episode_index": 207, "video_path": "take_cup_to_cart/videos/chunk-000/{video_key}/episode_000207.mp4", "tasks": ["Grasp water cup to cart."], "length": 637, "action_config": [{"start_frame": 0, "end_frame": 156, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 156, "end_frame": 295, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 295, "end_frame": 375, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 375, "end_frame": 464, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf and rotated its waist."}, {"start_frame": 464, "end_frame": 529, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}, {"start_frame": 529, "end_frame": 637, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}], "detailed_task_instruction": ["Rotate your waist to face the shelf, then pick up the red and white bagged disposable water cups from the third layer of the shelf. Rotate your waist again to face the shopping cart and place the red and white bagged disposable water cups into the shopping cart."]}
{"task_id": "take_cup_to_cart", "episode_index": 208, "video_path": "take_cup_to_cart/videos/chunk-000/{video_key}/episode_000208.mp4", "tasks": ["Grasp water cup to cart."], "length": 468, "action_config": [{"start_frame": 0, "end_frame": 118, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 118, "end_frame": 222, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 222, "end_frame": 312, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 312, "end_frame": 346, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf and rotated its waist."}, {"start_frame": 346, "end_frame": 380, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}, {"start_frame": 380, "end_frame": 468, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}], "detailed_task_instruction": ["Rotate your waist to face the shelf, then pick up the red and white bagged disposable water cups from the third layer of the shelf. Rotate your waist again to face the shopping cart and place the red and white bagged disposable water cups into the shopping cart."]}
{"task_id": "take_cup_to_cart", "episode_index": 209, "video_path": "take_cup_to_cart/videos/chunk-000/{video_key}/episode_000209.mp4", "tasks": ["Grasp water cup to cart."], "length": 449, "action_config": [{"start_frame": 0, "end_frame": 105, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 105, "end_frame": 233, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 233, "end_frame": 321, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 321, "end_frame": 350, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf and rotated its waist."}, {"start_frame": 350, "end_frame": 389, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}, {"start_frame": 389, "end_frame": 449, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}], "detailed_task_instruction": ["Rotate your waist to face the shelf, then pick up the red and white bagged disposable water cups from the third layer of the shelf. Rotate your waist again to face the shopping cart and place the red and white bagged disposable water cups into the shopping cart."]}
{"task_id": "take_cup_to_cart", "episode_index": 210, "video_path": "take_cup_to_cart/videos/chunk-000/{video_key}/episode_000210.mp4", "tasks": ["Grasp water cup to cart."], "length": 396, "action_config": [{"start_frame": 0, "end_frame": 105, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 105, "end_frame": 178, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 178, "end_frame": 258, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 258, "end_frame": 282, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf and rotated its waist."}, {"start_frame": 282, "end_frame": 314, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}, {"start_frame": 314, "end_frame": 396, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}], "detailed_task_instruction": ["Rotate your waist to face the shelf, then pick up the red and white bagged disposable water cups from the third layer of the shelf. Rotate your waist again to face the shopping cart and place the red and white bagged disposable water cups into the shopping cart."]}
{"task_id": "take_cup_to_cart", "episode_index": 211, "video_path": "take_cup_to_cart/videos/chunk-000/{video_key}/episode_000211.mp4", "tasks": ["Grasp water cup to cart."], "length": 678, "action_config": [{"start_frame": 0, "end_frame": 173, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 173, "end_frame": 350, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 350, "end_frame": 441, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 441, "end_frame": 483, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf and rotated its waist."}, {"start_frame": 483, "end_frame": 533, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}, {"start_frame": 533, "end_frame": 678, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}], "detailed_task_instruction": ["Rotate your waist to face the shelf, then pick up the red and white bagged disposable water cups from the third layer of the shelf. Rotate your waist again to face the shopping cart and place the red and white bagged disposable water cups into the shopping cart."]}
{"task_id": "take_cup_to_cart", "episode_index": 212, "video_path": "take_cup_to_cart/videos/chunk-000/{video_key}/episode_000212.mp4", "tasks": ["Grasp water cup to cart."], "length": 506, "action_config": [{"start_frame": 0, "end_frame": 117, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 117, "end_frame": 225, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 225, "end_frame": 316, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 316, "end_frame": 354, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf and rotated its waist."}, {"start_frame": 354, "end_frame": 392, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}, {"start_frame": 392, "end_frame": 506, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}], "detailed_task_instruction": ["Rotate your waist to face the shelf, then pick up the red and white bagged disposable water cups from the third layer of the shelf. Rotate your waist again to face the shopping cart and place the red and white bagged disposable water cups into the shopping cart."]}
{"task_id": "take_cup_to_cart", "episode_index": 213, "video_path": "take_cup_to_cart/videos/chunk-000/{video_key}/episode_000213.mp4", "tasks": ["Grasp water cup to cart."], "length": 505, "action_config": [{"start_frame": 0, "end_frame": 102, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 102, "end_frame": 232, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 232, "end_frame": 312, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 312, "end_frame": 352, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf and rotated its waist."}, {"start_frame": 352, "end_frame": 392, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}, {"start_frame": 392, "end_frame": 505, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}], "detailed_task_instruction": ["Rotate your waist to face the shelf, then pick up the red and white bagged disposable water cups from the third layer of the shelf. Rotate your waist again to face the shopping cart and place the red and white bagged disposable water cups into the shopping cart."]}
{"task_id": "take_cup_to_cart", "episode_index": 214, "video_path": "take_cup_to_cart/videos/chunk-000/{video_key}/episode_000214.mp4", "tasks": ["Grasp water cup to cart."], "length": 483, "action_config": [{"start_frame": 0, "end_frame": 129, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 129, "end_frame": 215, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 215, "end_frame": 308, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 308, "end_frame": 351, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf and rotated its waist."}, {"start_frame": 351, "end_frame": 384, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}, {"start_frame": 384, "end_frame": 483, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}], "detailed_task_instruction": ["Rotate your waist to face the shelf, then pick up the red and white bagged disposable water cups from the third layer of the shelf. Rotate your waist again to face the shopping cart and place the red and white bagged disposable water cups into the shopping cart."]}
{"task_id": "take_cup_to_cart", "episode_index": 215, "video_path": "take_cup_to_cart/videos/chunk-000/{video_key}/episode_000215.mp4", "tasks": ["Grasp water cup to cart."], "length": 462, "action_config": [{"start_frame": 0, "end_frame": 105, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 105, "end_frame": 210, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 210, "end_frame": 290, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 290, "end_frame": 339, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf and rotated its waist."}, {"start_frame": 339, "end_frame": 372, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}, {"start_frame": 372, "end_frame": 462, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}], "detailed_task_instruction": ["Rotate your waist to face the shelf, then pick up the red and white bagged disposable water cups from the third layer of the shelf. Rotate your waist again to face the shopping cart and place the red and white bagged disposable water cups into the shopping cart."]}
{"task_id": "take_cup_to_cart", "episode_index": 216, "video_path": "take_cup_to_cart/videos/chunk-000/{video_key}/episode_000216.mp4", "tasks": ["Grasp water cup to cart."], "length": 647, "action_config": [{"start_frame": 0, "end_frame": 152, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 152, "end_frame": 261, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 261, "end_frame": 371, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 371, "end_frame": 473, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf and rotated its waist."}, {"start_frame": 473, "end_frame": 533, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}, {"start_frame": 533, "end_frame": 647, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}], "detailed_task_instruction": ["Rotate your waist to face the shelf, then pick up the red and white bagged disposable water cups from the third layer of the shelf. Rotate your waist again to face the shopping cart and place the red and white bagged disposable water cups into the shopping cart."]}
{"task_id": "take_cup_to_cart", "episode_index": 217, "video_path": "take_cup_to_cart/videos/chunk-000/{video_key}/episode_000217.mp4", "tasks": ["Grasp water cup to cart."], "length": 466, "action_config": [{"start_frame": 0, "end_frame": 120, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 120, "end_frame": 222, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 222, "end_frame": 309, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 309, "end_frame": 339, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf and rotated its waist."}, {"start_frame": 339, "end_frame": 369, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}, {"start_frame": 369, "end_frame": 466, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}], "detailed_task_instruction": ["Rotate your waist to face the shelf, then pick up the red and white bagged disposable water cups from the third layer of the shelf. Rotate your waist again to face the shopping cart and place the red and white bagged disposable water cups into the shopping cart."]}
{"task_id": "take_cup_to_cart", "episode_index": 218, "video_path": "take_cup_to_cart/videos/chunk-000/{video_key}/episode_000218.mp4", "tasks": ["Grasp water cup to cart."], "length": 484, "action_config": [{"start_frame": 0, "end_frame": 120, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 120, "end_frame": 216, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 216, "end_frame": 294, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 294, "end_frame": 332, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf and rotated its waist."}, {"start_frame": 332, "end_frame": 383, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}, {"start_frame": 383, "end_frame": 484, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}], "detailed_task_instruction": ["Rotate your waist to face the shelf, then pick up the red and white bagged disposable water cups from the third layer of the shelf. Rotate your waist again to face the shopping cart and place the red and white bagged disposable water cups into the shopping cart."]}
{"task_id": "take_cup_to_cart", "episode_index": 219, "video_path": "take_cup_to_cart/videos/chunk-000/{video_key}/episode_000219.mp4", "tasks": ["Grasp water cup to cart."], "length": 520, "action_config": [{"start_frame": 0, "end_frame": 116, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 116, "end_frame": 263, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 263, "end_frame": 348, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 348, "end_frame": 399, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf and rotated its waist."}, {"start_frame": 399, "end_frame": 429, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}, {"start_frame": 429, "end_frame": 520, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}], "detailed_task_instruction": ["Rotate your waist to face the shelf, then pick up the red and white bagged disposable water cups from the third layer of the shelf. Rotate your waist again to face the shopping cart and place the red and white bagged disposable water cups into the shopping cart."]}
{"task_id": "take_cup_to_cart", "episode_index": 220, "video_path": "take_cup_to_cart/videos/chunk-000/{video_key}/episode_000220.mp4", "tasks": ["Grasp water cup to cart."], "length": 537, "action_config": [{"start_frame": 0, "end_frame": 135, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 135, "end_frame": 264, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 264, "end_frame": 348, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 348, "end_frame": 381, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf and rotated its waist."}, {"start_frame": 381, "end_frame": 420, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}, {"start_frame": 420, "end_frame": 537, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}], "detailed_task_instruction": ["Rotate your waist to face the shelf, then pick up the red and white bagged disposable water cups from the third layer of the shelf. Rotate your waist again to face the shopping cart and place the red and white bagged disposable water cups into the shopping cart."]}
{"task_id": "take_cup_to_cart", "episode_index": 221, "video_path": "take_cup_to_cart/videos/chunk-000/{video_key}/episode_000221.mp4", "tasks": ["Grasp water cup to cart."], "length": 525, "action_config": [{"start_frame": 0, "end_frame": 141, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 141, "end_frame": 295, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 295, "end_frame": 363, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 363, "end_frame": 406, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf and rotated its waist."}, {"start_frame": 406, "end_frame": 438, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}, {"start_frame": 438, "end_frame": 525, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}], "detailed_task_instruction": ["Rotate your waist to face the shelf, then pick up the red and white bagged disposable water cups from the third layer of the shelf. Rotate your waist again to face the shopping cart and place the red and white bagged disposable water cups into the shopping cart."]}
{"task_id": "take_cup_to_cart", "episode_index": 222, "video_path": "take_cup_to_cart/videos/chunk-000/{video_key}/episode_000222.mp4", "tasks": ["Grasp water cup to cart."], "length": 486, "action_config": [{"start_frame": 0, "end_frame": 107, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 107, "end_frame": 240, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 240, "end_frame": 323, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 323, "end_frame": 368, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf and rotated its waist."}, {"start_frame": 368, "end_frame": 381, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}, {"start_frame": 381, "end_frame": 486, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}], "detailed_task_instruction": ["Rotate your waist to face the shelf, then pick up the red and white bagged disposable water cups from the third layer of the shelf. Rotate your waist again to face the shopping cart and place the red and white bagged disposable water cups into the shopping cart."]}
{"task_id": "take_cup_to_cart", "episode_index": 223, "video_path": "take_cup_to_cart/videos/chunk-000/{video_key}/episode_000223.mp4", "tasks": ["Grasp water cup to cart."], "length": 440, "action_config": [{"start_frame": 0, "end_frame": 110, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 110, "end_frame": 204, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 204, "end_frame": 291, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 291, "end_frame": 318, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf and rotated its waist."}, {"start_frame": 318, "end_frame": 351, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}, {"start_frame": 351, "end_frame": 440, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}], "detailed_task_instruction": ["Rotate your waist to face the shelf, then pick up the red and white bagged disposable water cups from the third layer of the shelf. Rotate your waist again to face the shopping cart and place the red and white bagged disposable water cups into the shopping cart."]}
{"task_id": "take_cup_to_cart", "episode_index": 224, "video_path": "take_cup_to_cart/videos/chunk-000/{video_key}/episode_000224.mp4", "tasks": ["Grasp water cup to cart."], "length": 588, "action_config": [{"start_frame": 0, "end_frame": 156, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 156, "end_frame": 303, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 303, "end_frame": 378, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 378, "end_frame": 414, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf and rotated its waist."}, {"start_frame": 414, "end_frame": 453, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}, {"start_frame": 453, "end_frame": 588, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}], "detailed_task_instruction": ["Rotate your waist to face the shelf, then pick up the red and white bagged disposable water cups from the third layer of the shelf. Rotate your waist again to face the shopping cart and place the red and white bagged disposable water cups into the shopping cart."]}
{"task_id": "take_cup_to_cart", "episode_index": 225, "video_path": "take_cup_to_cart/videos/chunk-000/{video_key}/episode_000225.mp4", "tasks": ["Grasp water cup to cart."], "length": 498, "action_config": [{"start_frame": 0, "end_frame": 146, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 146, "end_frame": 248, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 248, "end_frame": 333, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 333, "end_frame": 375, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf and rotated its waist."}, {"start_frame": 375, "end_frame": 420, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}, {"start_frame": 420, "end_frame": 498, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}], "detailed_task_instruction": ["Rotate your waist to face the shelf, then pick up the red and white bagged disposable water cups from the third layer of the shelf. Rotate your waist again to face the shopping cart and place the red and white bagged disposable water cups into the shopping cart."]}
{"task_id": "take_cup_to_cart", "episode_index": 226, "video_path": "take_cup_to_cart/videos/chunk-000/{video_key}/episode_000226.mp4", "tasks": ["Grasp water cup to cart."], "length": 515, "action_config": [{"start_frame": 0, "end_frame": 108, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 108, "end_frame": 249, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 249, "end_frame": 347, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 347, "end_frame": 390, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf and rotated its waist."}, {"start_frame": 390, "end_frame": 430, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}, {"start_frame": 430, "end_frame": 515, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}], "detailed_task_instruction": ["Rotate your waist to face the shelf, then pick up the red and white bagged disposable water cups from the third layer of the shelf. Rotate your waist again to face the shopping cart and place the red and white bagged disposable water cups into the shopping cart."]}
{"task_id": "take_cup_to_cart", "episode_index": 227, "video_path": "take_cup_to_cart/videos/chunk-000/{video_key}/episode_000227.mp4", "tasks": ["Grasp water cup to cart."], "length": 553, "action_config": [{"start_frame": 0, "end_frame": 165, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 165, "end_frame": 297, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 297, "end_frame": 381, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 381, "end_frame": 423, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf and rotated its waist."}, {"start_frame": 423, "end_frame": 461, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}, {"start_frame": 461, "end_frame": 553, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}], "detailed_task_instruction": ["Rotate your waist to face the shelf, then pick up the red and white bagged disposable water cups from the third layer of the shelf. Rotate your waist again to face the shopping cart and place the red and white bagged disposable water cups into the shopping cart."]}
{"task_id": "take_cup_to_cart", "episode_index": 228, "video_path": "take_cup_to_cart/videos/chunk-000/{video_key}/episode_000228.mp4", "tasks": ["Grasp water cup to cart."], "length": 430, "action_config": [{"start_frame": 0, "end_frame": 119, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 119, "end_frame": 191, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 191, "end_frame": 267, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 267, "end_frame": 302, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf and rotated its waist."}, {"start_frame": 302, "end_frame": 339, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}, {"start_frame": 339, "end_frame": 430, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}], "detailed_task_instruction": ["Rotate your waist to face the shelf, then pick up the red and white bagged disposable water cups from the third layer of the shelf. Rotate your waist again to face the shopping cart and place the red and white bagged disposable water cups into the shopping cart."]}
{"task_id": "take_cup_to_cart", "episode_index": 229, "video_path": "take_cup_to_cart/videos/chunk-000/{video_key}/episode_000229.mp4", "tasks": ["Grasp water cup to cart."], "length": 548, "action_config": [{"start_frame": 0, "end_frame": 126, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 126, "end_frame": 249, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 249, "end_frame": 351, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 351, "end_frame": 404, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf and rotated its waist."}, {"start_frame": 404, "end_frame": 441, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}, {"start_frame": 441, "end_frame": 548, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}], "detailed_task_instruction": ["Rotate your waist to face the shelf, then pick up the red and white bagged disposable water cups from the third layer of the shelf. Rotate your waist again to face the shopping cart and place the red and white bagged disposable water cups into the shopping cart."]}
{"task_id": "take_cup_to_cart", "episode_index": 230, "video_path": "take_cup_to_cart/videos/chunk-000/{video_key}/episode_000230.mp4", "tasks": ["Grasp water cup to cart."], "length": 516, "action_config": [{"start_frame": 0, "end_frame": 120, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 120, "end_frame": 222, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 222, "end_frame": 318, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 318, "end_frame": 359, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf and rotated its waist."}, {"start_frame": 359, "end_frame": 401, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}, {"start_frame": 401, "end_frame": 516, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}], "detailed_task_instruction": ["Rotate your waist to face the shelf, then pick up the red and white bagged disposable water cups from the third layer of the shelf. Rotate your waist again to face the shopping cart and place the red and white bagged disposable water cups into the shopping cart."]}
{"task_id": "take_cup_to_cart", "episode_index": 231, "video_path": "take_cup_to_cart/videos/chunk-000/{video_key}/episode_000231.mp4", "tasks": ["Grasp water cup to cart."], "length": 471, "action_config": [{"start_frame": 0, "end_frame": 123, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 123, "end_frame": 222, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 222, "end_frame": 309, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 309, "end_frame": 355, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf and rotated its waist."}, {"start_frame": 355, "end_frame": 393, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}, {"start_frame": 393, "end_frame": 471, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}], "detailed_task_instruction": ["Rotate your waist to face the shelf, then pick up the red and white bagged disposable water cups from the third layer of the shelf. Rotate your waist again to face the shopping cart and place the red and white bagged disposable water cups into the shopping cart."]}
{"task_id": "take_cup_to_cart", "episode_index": 232, "video_path": "take_cup_to_cart/videos/chunk-000/{video_key}/episode_000232.mp4", "tasks": ["Grasp water cup to cart."], "length": 629, "action_config": [{"start_frame": 0, "end_frame": 189, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 189, "end_frame": 327, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 327, "end_frame": 420, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 420, "end_frame": 471, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf and rotated its waist."}, {"start_frame": 471, "end_frame": 519, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}, {"start_frame": 519, "end_frame": 629, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}], "detailed_task_instruction": ["Rotate your waist to face the shelf, then pick up the red and white bagged disposable water cups from the third layer of the shelf. Rotate your waist again to face the shopping cart and place the red and white bagged disposable water cups into the shopping cart."]}
{"task_id": "take_cup_to_cart", "episode_index": 233, "video_path": "take_cup_to_cart/videos/chunk-000/{video_key}/episode_000233.mp4", "tasks": ["Grasp water cup to cart."], "length": 455, "action_config": [{"start_frame": 0, "end_frame": 106, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 106, "end_frame": 207, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 207, "end_frame": 300, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 300, "end_frame": 327, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf and rotated its waist."}, {"start_frame": 327, "end_frame": 366, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}, {"start_frame": 366, "end_frame": 455, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}], "detailed_task_instruction": ["Rotate your waist to face the shelf, then pick up the red and white bagged disposable water cups from the third layer of the shelf. Rotate your waist again to face the shopping cart and place the red and white bagged disposable water cups into the shopping cart."]}
{"task_id": "take_cup_to_cart", "episode_index": 234, "video_path": "take_cup_to_cart/videos/chunk-000/{video_key}/episode_000234.mp4", "tasks": ["Grasp water cup to cart."], "length": 524, "action_config": [{"start_frame": 0, "end_frame": 146, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 146, "end_frame": 249, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 249, "end_frame": 329, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 329, "end_frame": 364, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf and rotated its waist."}, {"start_frame": 364, "end_frame": 410, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}, {"start_frame": 410, "end_frame": 524, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}], "detailed_task_instruction": ["Rotate your waist to face the shelf, then pick up the red and white bagged disposable water cups from the third layer of the shelf. Rotate your waist again to face the shopping cart and place the red and white bagged disposable water cups into the shopping cart."]}
{"task_id": "take_cup_to_cart", "episode_index": 235, "video_path": "take_cup_to_cart/videos/chunk-000/{video_key}/episode_000235.mp4", "tasks": ["Grasp water cup to cart."], "length": 500, "action_config": [{"start_frame": 0, "end_frame": 116, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 116, "end_frame": 228, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 228, "end_frame": 312, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 312, "end_frame": 348, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf and rotated its waist."}, {"start_frame": 348, "end_frame": 390, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}, {"start_frame": 390, "end_frame": 500, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}], "detailed_task_instruction": ["Rotate your waist to face the shelf, then pick up the red and white bagged disposable water cups from the third layer of the shelf. Rotate your waist again to face the shopping cart and place the red and white bagged disposable water cups into the shopping cart."]}
{"task_id": "take_cup_to_cart", "episode_index": 236, "video_path": "take_cup_to_cart/videos/chunk-000/{video_key}/episode_000236.mp4", "tasks": ["Grasp water cup to cart."], "length": 506, "action_config": [{"start_frame": 0, "end_frame": 117, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 117, "end_frame": 234, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 234, "end_frame": 339, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 339, "end_frame": 377, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf and rotated its waist."}, {"start_frame": 377, "end_frame": 422, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}, {"start_frame": 422, "end_frame": 506, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}], "detailed_task_instruction": ["Rotate your waist to face the shelf, then pick up the red and white bagged disposable water cups from the third layer of the shelf. Rotate your waist again to face the shopping cart and place the red and white bagged disposable water cups into the shopping cart."]}
{"task_id": "take_cup_to_cart", "episode_index": 237, "video_path": "take_cup_to_cart/videos/chunk-000/{video_key}/episode_000237.mp4", "tasks": ["Grasp water cup to cart."], "length": 592, "action_config": [{"start_frame": 0, "end_frame": 203, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 203, "end_frame": 329, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 329, "end_frame": 408, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 408, "end_frame": 447, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf and rotated its waist."}, {"start_frame": 447, "end_frame": 491, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}, {"start_frame": 491, "end_frame": 592, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}], "detailed_task_instruction": ["Rotate your waist to face the shelf, then pick up the red and white bagged disposable water cups from the third layer of the shelf. Rotate your waist again to face the shopping cart and place the red and white bagged disposable water cups into the shopping cart."]}
{"task_id": "take_cup_to_cart", "episode_index": 238, "video_path": "take_cup_to_cart/videos/chunk-000/{video_key}/episode_000238.mp4", "tasks": ["Grasp water cup to cart."], "length": 428, "action_config": [{"start_frame": 0, "end_frame": 108, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 108, "end_frame": 203, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 203, "end_frame": 275, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 275, "end_frame": 309, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf and rotated its waist."}, {"start_frame": 309, "end_frame": 344, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}, {"start_frame": 344, "end_frame": 428, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}], "detailed_task_instruction": ["Rotate your waist to face the shelf, then pick up the red and white bagged disposable water cups from the third layer of the shelf. Rotate your waist again to face the shopping cart and place the red and white bagged disposable water cups into the shopping cart."]}
{"task_id": "take_cup_to_cart", "episode_index": 239, "video_path": "take_cup_to_cart/videos/chunk-000/{video_key}/episode_000239.mp4", "tasks": ["Grasp water cup to cart."], "length": 452, "action_config": [{"start_frame": 0, "end_frame": 101, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 101, "end_frame": 198, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 198, "end_frame": 280, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 280, "end_frame": 318, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf and rotated its waist."}, {"start_frame": 318, "end_frame": 354, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}, {"start_frame": 354, "end_frame": 452, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}], "detailed_task_instruction": ["Rotate your waist to face the shelf, then pick up the red and white bagged disposable water cups from the third layer of the shelf. Rotate your waist again to face the shopping cart and place the red and white bagged disposable water cups into the shopping cart."]}
{"task_id": "take_cup_to_cart", "episode_index": 240, "video_path": "take_cup_to_cart/videos/chunk-000/{video_key}/episode_000240.mp4", "tasks": ["Grasp water cup to cart."], "length": 611, "action_config": [{"start_frame": 0, "end_frame": 101, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 101, "end_frame": 198, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 198, "end_frame": 280, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 280, "end_frame": 318, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf and rotated its waist."}, {"start_frame": 318, "end_frame": 354, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}, {"start_frame": 354, "end_frame": 452, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}], "detailed_task_instruction": ["Rotate your waist to face the shelf, then pick up the red and white bagged disposable water cups from the third layer of the shelf. Rotate your waist again to face the shopping cart and place the red and white bagged disposable water cups into the shopping cart."]}
{"task_id": "take_cup_to_cart", "episode_index": 241, "video_path": "take_cup_to_cart/videos/chunk-000/{video_key}/episode_000241.mp4", "tasks": ["Grasp water cup to cart."], "length": 563, "action_config": [{"start_frame": 0, "end_frame": 149, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 149, "end_frame": 269, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 269, "end_frame": 344, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 344, "end_frame": 398, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf and rotated its waist."}, {"start_frame": 398, "end_frame": 456, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}, {"start_frame": 456, "end_frame": 563, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}], "detailed_task_instruction": ["Rotate your waist to face the shelf, then pick up the red and white bagged disposable water cups from the third layer of the shelf. Rotate your waist again to face the shopping cart and place the red and white bagged disposable water cups into the shopping cart."]}
{"task_id": "take_cup_to_cart", "episode_index": 242, "video_path": "take_cup_to_cart/videos/chunk-000/{video_key}/episode_000242.mp4", "tasks": ["Grasp water cup to cart."], "length": 533, "action_config": [{"start_frame": 0, "end_frame": 120, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 120, "end_frame": 231, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 231, "end_frame": 312, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 312, "end_frame": 375, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf and rotated its waist."}, {"start_frame": 375, "end_frame": 426, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}, {"start_frame": 426, "end_frame": 533, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}], "detailed_task_instruction": ["Rotate your waist to face the shelf, then pick up the red and white bagged disposable water cups from the third layer of the shelf. Rotate your waist again to face the shopping cart and place the red and white bagged disposable water cups into the shopping cart."]}
{"task_id": "take_cup_to_cart", "episode_index": 243, "video_path": "take_cup_to_cart/videos/chunk-000/{video_key}/episode_000243.mp4", "tasks": ["Grasp water cup to cart."], "length": 530, "action_config": [{"start_frame": 0, "end_frame": 109, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 109, "end_frame": 243, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 243, "end_frame": 350, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 350, "end_frame": 402, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf and rotated its waist."}, {"start_frame": 402, "end_frame": 440, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}, {"start_frame": 440, "end_frame": 530, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}], "detailed_task_instruction": ["Rotate your waist to face the shelf, then pick up the red and white bagged disposable water cups from the third layer of the shelf. Rotate your waist again to face the shopping cart and place the red and white bagged disposable water cups into the shopping cart."]}
{"task_id": "take_cup_to_cart", "episode_index": 244, "video_path": "take_cup_to_cart/videos/chunk-000/{video_key}/episode_000244.mp4", "tasks": ["Grasp water cup to cart."], "length": 558, "action_config": [{"start_frame": 0, "end_frame": 153, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 153, "end_frame": 257, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 257, "end_frame": 345, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 345, "end_frame": 395, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf and rotated its waist."}, {"start_frame": 395, "end_frame": 425, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}, {"start_frame": 425, "end_frame": 558, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}], "detailed_task_instruction": ["Rotate your waist to face the shelf, then pick up the red and white bagged disposable water cups from the third layer of the shelf. Rotate your waist again to face the shopping cart and place the red and white bagged disposable water cups into the shopping cart."]}
{"task_id": "take_cup_to_cart", "episode_index": 245, "video_path": "take_cup_to_cart/videos/chunk-000/{video_key}/episode_000245.mp4", "tasks": ["Grasp water cup to cart."], "length": 520, "action_config": [{"start_frame": 0, "end_frame": 123, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 123, "end_frame": 246, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 246, "end_frame": 336, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 336, "end_frame": 395, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf and rotated its waist."}, {"start_frame": 395, "end_frame": 423, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}, {"start_frame": 423, "end_frame": 520, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}], "detailed_task_instruction": ["Rotate your waist to face the shelf, then pick up the red and white bagged disposable water cups from the third layer of the shelf. Rotate your waist again to face the shopping cart and place the red and white bagged disposable water cups into the shopping cart."]}
{"task_id": "take_cup_to_cart", "episode_index": 246, "video_path": "take_cup_to_cart/videos/chunk-000/{video_key}/episode_000246.mp4", "tasks": ["Grasp water cup to cart."], "length": 485, "action_config": [{"start_frame": 0, "end_frame": 104, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 104, "end_frame": 231, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 231, "end_frame": 302, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 302, "end_frame": 348, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf and rotated its waist."}, {"start_frame": 348, "end_frame": 411, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}, {"start_frame": 411, "end_frame": 485, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}], "detailed_task_instruction": ["Rotate your waist to face the shelf, then pick up the red and white bagged disposable water cups from the third layer of the shelf. Rotate your waist again to face the shopping cart and place the red and white bagged disposable water cups into the shopping cart."]}
{"task_id": "take_cup_to_cart", "episode_index": 247, "video_path": "take_cup_to_cart/videos/chunk-000/{video_key}/episode_000247.mp4", "tasks": ["Grasp water cup to cart."], "length": 509, "action_config": [{"start_frame": 0, "end_frame": 141, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 141, "end_frame": 239, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 239, "end_frame": 330, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 330, "end_frame": 380, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf and rotated its waist."}, {"start_frame": 380, "end_frame": 423, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}, {"start_frame": 423, "end_frame": 509, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}], "detailed_task_instruction": ["Rotate your waist to face the shelf, then pick up the red and white bagged disposable water cups from the third layer of the shelf. Rotate your waist again to face the shopping cart and place the red and white bagged disposable water cups into the shopping cart."]}
{"task_id": "take_cup_to_cart", "episode_index": 248, "video_path": "take_cup_to_cart/videos/chunk-000/{video_key}/episode_000248.mp4", "tasks": ["Grasp water cup to cart."], "length": 524, "action_config": [{"start_frame": 0, "end_frame": 126, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 126, "end_frame": 227, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 227, "end_frame": 302, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 302, "end_frame": 336, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf and rotated its waist."}, {"start_frame": 336, "end_frame": 401, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}, {"start_frame": 401, "end_frame": 524, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}], "detailed_task_instruction": ["Rotate your waist to face the shelf, then pick up the red and white bagged disposable water cups from the third layer of the shelf. Rotate your waist again to face the shopping cart and place the red and white bagged disposable water cups into the shopping cart."]}
{"task_id": "take_cup_to_cart", "episode_index": 249, "video_path": "take_cup_to_cart/videos/chunk-000/{video_key}/episode_000249.mp4", "tasks": ["Grasp water cup to cart."], "length": 594, "action_config": [{"start_frame": 0, "end_frame": 152, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 152, "end_frame": 294, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 294, "end_frame": 384, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 384, "end_frame": 444, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf and rotated its waist."}, {"start_frame": 444, "end_frame": 474, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}, {"start_frame": 474, "end_frame": 594, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}], "detailed_task_instruction": ["Rotate your waist to face the shelf, then pick up the red and white bagged disposable water cups from the third layer of the shelf. Rotate your waist again to face the shopping cart and place the red and white bagged disposable water cups into the shopping cart."]}
{"task_id": "take_cup_to_cart", "episode_index": 250, "video_path": "take_cup_to_cart/videos/chunk-000/{video_key}/episode_000250.mp4", "tasks": ["Grasp water cup to cart."], "length": 550, "action_config": [{"start_frame": 0, "end_frame": 125, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 125, "end_frame": 269, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 269, "end_frame": 351, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 351, "end_frame": 393, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf and rotated its waist."}, {"start_frame": 393, "end_frame": 437, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}, {"start_frame": 437, "end_frame": 550, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}], "detailed_task_instruction": ["Rotate your waist to face the shelf, then pick up the red and white bagged disposable water cups from the third layer of the shelf. Rotate your waist again to face the shopping cart and place the red and white bagged disposable water cups into the shopping cart."]}
{"task_id": "take_cup_to_cart", "episode_index": 251, "video_path": "take_cup_to_cart/videos/chunk-000/{video_key}/episode_000251.mp4", "tasks": ["Grasp water cup to cart."], "length": 520, "action_config": [{"start_frame": 0, "end_frame": 138, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 138, "end_frame": 263, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 263, "end_frame": 356, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 356, "end_frame": 390, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf and rotated its waist."}, {"start_frame": 390, "end_frame": 417, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}, {"start_frame": 417, "end_frame": 520, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}], "detailed_task_instruction": ["Rotate your waist to face the shelf, then pick up the red and white bagged disposable water cups from the third layer of the shelf. Rotate your waist again to face the shopping cart and place the red and white bagged disposable water cups into the shopping cart."]}
{"task_id": "take_cup_to_cart", "episode_index": 252, "video_path": "take_cup_to_cart/videos/chunk-000/{video_key}/episode_000252.mp4", "tasks": ["Grasp water cup to cart."], "length": 639, "action_config": [{"start_frame": 0, "end_frame": 120, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 120, "end_frame": 344, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 344, "end_frame": 440, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 440, "end_frame": 473, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf and rotated its waist."}, {"start_frame": 473, "end_frame": 515, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}, {"start_frame": 515, "end_frame": 639, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}], "detailed_task_instruction": ["Rotate your waist to face the shelf, then pick up the red and white bagged disposable water cups from the third layer of the shelf. Rotate your waist again to face the shopping cart and place the red and white bagged disposable water cups into the shopping cart."]}
{"task_id": "take_cup_to_cart", "episode_index": 253, "video_path": "take_cup_to_cart/videos/chunk-000/{video_key}/episode_000253.mp4", "tasks": ["Grasp water cup to cart."], "length": 443, "action_config": [{"start_frame": 0, "end_frame": 120, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 120, "end_frame": 227, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 227, "end_frame": 314, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 314, "end_frame": 346, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf and rotated its waist."}, {"start_frame": 346, "end_frame": 384, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}, {"start_frame": 384, "end_frame": 443, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}], "detailed_task_instruction": ["Rotate your waist to face the shelf, then pick up the red and white bagged disposable water cups from the third layer of the shelf. Rotate your waist again to face the shopping cart and place the red and white bagged disposable water cups into the shopping cart."]}
{"task_id": "take_cup_to_cart", "episode_index": 254, "video_path": "take_cup_to_cart/videos/chunk-000/{video_key}/episode_000254.mp4", "tasks": ["Grasp water cup to cart."], "length": 464, "action_config": [{"start_frame": 0, "end_frame": 116, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 116, "end_frame": 228, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 228, "end_frame": 318, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 318, "end_frame": 353, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf and rotated its waist."}, {"start_frame": 353, "end_frame": 387, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}, {"start_frame": 387, "end_frame": 464, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}], "detailed_task_instruction": ["Rotate your waist to face the shelf, then pick up the red and white bagged disposable water cups from the third layer of the shelf. Rotate your waist again to face the shopping cart and place the red and white bagged disposable water cups into the shopping cart."]}
{"task_id": "take_cup_to_cart", "episode_index": 255, "video_path": "take_cup_to_cart/videos/chunk-000/{video_key}/episode_000255.mp4", "tasks": ["Grasp water cup to cart."], "length": 596, "action_config": [{"start_frame": 0, "end_frame": 146, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 146, "end_frame": 296, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 296, "end_frame": 384, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 384, "end_frame": 441, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf and rotated its waist."}, {"start_frame": 441, "end_frame": 458, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}, {"start_frame": 458, "end_frame": 596, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}], "detailed_task_instruction": ["Rotate your waist to face the shelf, then pick up the red and white bagged disposable water cups from the third layer of the shelf. Rotate your waist again to face the shopping cart and place the red and white bagged disposable water cups into the shopping cart."]}
{"task_id": "take_cup_to_cart", "episode_index": 256, "video_path": "take_cup_to_cart/videos/chunk-000/{video_key}/episode_000256.mp4", "tasks": ["Grasp water cup to cart."], "length": 570, "action_config": [{"start_frame": 0, "end_frame": 155, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 155, "end_frame": 282, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 282, "end_frame": 384, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 384, "end_frame": 435, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf and rotated its waist."}, {"start_frame": 435, "end_frame": 473, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}, {"start_frame": 473, "end_frame": 570, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}], "detailed_task_instruction": ["Rotate your waist to face the shelf, then pick up the red and white bagged disposable water cups from the third layer of the shelf. Rotate your waist again to face the shopping cart and place the red and white bagged disposable water cups into the shopping cart."]}
{"task_id": "take_cup_to_cart", "episode_index": 257, "video_path": "take_cup_to_cart/videos/chunk-000/{video_key}/episode_000257.mp4", "tasks": ["Grasp water cup to cart."], "length": 517, "action_config": [{"start_frame": 0, "end_frame": 137, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 137, "end_frame": 270, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 270, "end_frame": 359, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 359, "end_frame": 411, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf and rotated its waist."}, {"start_frame": 411, "end_frame": 432, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}, {"start_frame": 432, "end_frame": 517, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}], "detailed_task_instruction": ["Rotate your waist to face the shelf, then pick up the red and white bagged disposable water cups from the third layer of the shelf. Rotate your waist again to face the shopping cart and place the red and white bagged disposable water cups into the shopping cart."]}
{"task_id": "take_cup_to_cart", "episode_index": 258, "video_path": "take_cup_to_cart/videos/chunk-000/{video_key}/episode_000258.mp4", "tasks": ["Grasp water cup to cart."], "length": 545, "action_config": [{"start_frame": 0, "end_frame": 138, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 138, "end_frame": 246, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 246, "end_frame": 350, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 350, "end_frame": 390, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf and rotated its waist."}, {"start_frame": 390, "end_frame": 449, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}, {"start_frame": 449, "end_frame": 545, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}], "detailed_task_instruction": ["Rotate your waist to face the shelf, then pick up the red and white bagged disposable water cups from the third layer of the shelf. Rotate your waist again to face the shopping cart and place the red and white bagged disposable water cups into the shopping cart."]}
{"task_id": "take_cup_to_cart", "episode_index": 259, "video_path": "take_cup_to_cart/videos/chunk-000/{video_key}/episode_000259.mp4", "tasks": ["Grasp water cup to cart."], "length": 503, "action_config": [{"start_frame": 0, "end_frame": 126, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 126, "end_frame": 254, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 254, "end_frame": 345, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 345, "end_frame": 393, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf and rotated its waist."}, {"start_frame": 393, "end_frame": 417, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}, {"start_frame": 417, "end_frame": 503, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}], "detailed_task_instruction": ["Rotate your waist to face the shelf, then pick up the red and white bagged disposable water cups from the third layer of the shelf. Rotate your waist again to face the shopping cart and place the red and white bagged disposable water cups into the shopping cart."]}
{"task_id": "take_cup_to_cart", "episode_index": 260, "video_path": "take_cup_to_cart/videos/chunk-000/{video_key}/episode_000260.mp4", "tasks": ["Grasp water cup to cart."], "length": 632, "action_config": [{"start_frame": 0, "end_frame": 158, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 158, "end_frame": 296, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 296, "end_frame": 404, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 404, "end_frame": 444, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf and rotated its waist."}, {"start_frame": 444, "end_frame": 504, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}, {"start_frame": 504, "end_frame": 632, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}], "detailed_task_instruction": ["Rotate your waist to face the shelf, then pick up the red and white bagged disposable water cups from the third layer of the shelf. Rotate your waist again to face the shopping cart and place the red and white bagged disposable water cups into the shopping cart."]}
{"task_id": "take_cup_to_cart", "episode_index": 261, "video_path": "take_cup_to_cart/videos/chunk-000/{video_key}/episode_000261.mp4", "tasks": ["Grasp water cup to cart."], "length": 542, "action_config": [{"start_frame": 0, "end_frame": 138, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 138, "end_frame": 255, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 255, "end_frame": 348, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 348, "end_frame": 402, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf and rotated its waist."}, {"start_frame": 402, "end_frame": 426, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}, {"start_frame": 426, "end_frame": 542, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}], "detailed_task_instruction": ["Rotate your waist to face the shelf, then pick up the red and white bagged disposable water cups from the third layer of the shelf. Rotate your waist again to face the shopping cart and place the red and white bagged disposable water cups into the shopping cart."]}
{"task_id": "take_cup_to_cart", "episode_index": 262, "video_path": "take_cup_to_cart/videos/chunk-000/{video_key}/episode_000262.mp4", "tasks": ["Grasp water cup to cart."], "length": 505, "action_config": [{"start_frame": 0, "end_frame": 152, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 152, "end_frame": 270, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 270, "end_frame": 354, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 354, "end_frame": 389, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf and rotated its waist."}, {"start_frame": 389, "end_frame": 426, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}, {"start_frame": 426, "end_frame": 505, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}], "detailed_task_instruction": ["Rotate your waist to face the shelf, then pick up the red and white bagged disposable water cups from the third layer of the shelf. Rotate your waist again to face the shopping cart and place the red and white bagged disposable water cups into the shopping cart."]}
{"task_id": "take_cup_to_cart", "episode_index": 263, "video_path": "take_cup_to_cart/videos/chunk-000/{video_key}/episode_000263.mp4", "tasks": ["Grasp water cup to cart."], "length": 628, "action_config": [{"start_frame": 0, "end_frame": 146, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 146, "end_frame": 297, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 297, "end_frame": 415, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 415, "end_frame": 465, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf and rotated its waist."}, {"start_frame": 465, "end_frame": 508, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}, {"start_frame": 508, "end_frame": 628, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}], "detailed_task_instruction": ["Rotate your waist to face the shelf, then pick up the red and white bagged disposable water cups from the third layer of the shelf. Rotate your waist again to face the shopping cart and place the red and white bagged disposable water cups into the shopping cart."]}
{"task_id": "take_cup_to_cart", "episode_index": 264, "video_path": "take_cup_to_cart/videos/chunk-000/{video_key}/episode_000264.mp4", "tasks": ["Grasp water cup to cart."], "length": 659, "action_config": [{"start_frame": 0, "end_frame": 155, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 155, "end_frame": 311, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 311, "end_frame": 413, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 413, "end_frame": 465, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf and rotated its waist."}, {"start_frame": 465, "end_frame": 501, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}, {"start_frame": 501, "end_frame": 659, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}], "detailed_task_instruction": ["Rotate your waist to face the shelf, then pick up the red and white bagged disposable water cups from the third layer of the shelf. Rotate your waist again to face the shopping cart and place the red and white bagged disposable water cups into the shopping cart."]}
{"task_id": "take_cup_to_cart", "episode_index": 265, "video_path": "take_cup_to_cart/videos/chunk-000/{video_key}/episode_000265.mp4", "tasks": ["Grasp water cup to cart."], "length": 573, "action_config": [{"start_frame": 0, "end_frame": 155, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 155, "end_frame": 311, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 311, "end_frame": 413, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 413, "end_frame": 465, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf and rotated its waist."}, {"start_frame": 465, "end_frame": 501, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}, {"start_frame": 501, "end_frame": 659, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}], "detailed_task_instruction": ["Rotate your waist to face the shelf, then pick up the red and white bagged disposable water cups from the third layer of the shelf. Rotate your waist again to face the shopping cart and place the red and white bagged disposable water cups into the shopping cart."]}
{"task_id": "take_cup_to_cart", "episode_index": 266, "video_path": "take_cup_to_cart/videos/chunk-000/{video_key}/episode_000266.mp4", "tasks": ["Grasp water cup to cart."], "length": 556, "action_config": [{"start_frame": 0, "end_frame": 165, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 165, "end_frame": 270, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 270, "end_frame": 342, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 342, "end_frame": 378, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf and rotated its waist."}, {"start_frame": 378, "end_frame": 419, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}, {"start_frame": 419, "end_frame": 556, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}], "detailed_task_instruction": ["Rotate your waist to face the shelf, then pick up the red and white bagged disposable water cups from the third layer of the shelf. Rotate your waist again to face the shopping cart and place the red and white bagged disposable water cups into the shopping cart."]}
{"task_id": "take_cup_to_cart", "episode_index": 267, "video_path": "take_cup_to_cart/videos/chunk-000/{video_key}/episode_000267.mp4", "tasks": ["Grasp water cup to cart."], "length": 497, "action_config": [{"start_frame": 0, "end_frame": 130, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 130, "end_frame": 239, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 239, "end_frame": 315, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 315, "end_frame": 358, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf and rotated its waist."}, {"start_frame": 358, "end_frame": 396, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}, {"start_frame": 396, "end_frame": 497, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}], "detailed_task_instruction": ["Rotate your waist to face the shelf, then pick up the red and white bagged disposable water cups from the third layer of the shelf. Rotate your waist again to face the shopping cart and place the red and white bagged disposable water cups into the shopping cart."]}
{"task_id": "take_cup_to_cart", "episode_index": 268, "video_path": "take_cup_to_cart/videos/chunk-000/{video_key}/episode_000268.mp4", "tasks": ["Grasp water cup to cart."], "length": 486, "action_config": [{"start_frame": 0, "end_frame": 125, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 125, "end_frame": 213, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 213, "end_frame": 279, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 279, "end_frame": 324, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf and rotated its waist."}, {"start_frame": 324, "end_frame": 363, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}, {"start_frame": 363, "end_frame": 486, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}], "detailed_task_instruction": ["Rotate your waist to face the shelf, then pick up the red and white bagged disposable water cups from the third layer of the shelf. Rotate your waist again to face the shopping cart and place the red and white bagged disposable water cups into the shopping cart."]}
{"task_id": "take_cup_to_cart", "episode_index": 269, "video_path": "take_cup_to_cart/videos/chunk-000/{video_key}/episode_000269.mp4", "tasks": ["Grasp water cup to cart."], "length": 496, "action_config": [{"start_frame": 0, "end_frame": 108, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 108, "end_frame": 222, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 222, "end_frame": 303, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 303, "end_frame": 363, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf and rotated its waist."}, {"start_frame": 363, "end_frame": 387, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}, {"start_frame": 387, "end_frame": 496, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}], "detailed_task_instruction": ["Rotate your waist to face the shelf, then pick up the red and white bagged disposable water cups from the third layer of the shelf. Rotate your waist again to face the shopping cart and place the red and white bagged disposable water cups into the shopping cart."]}
{"task_id": "take_cup_to_cart", "episode_index": 270, "video_path": "take_cup_to_cart/videos/chunk-000/{video_key}/episode_000270.mp4", "tasks": ["Grasp water cup to cart."], "length": 546, "action_config": [{"start_frame": 0, "end_frame": 114, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 114, "end_frame": 282, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 282, "end_frame": 366, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 366, "end_frame": 410, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf and rotated its waist."}, {"start_frame": 410, "end_frame": 440, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}, {"start_frame": 440, "end_frame": 546, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}], "detailed_task_instruction": ["Rotate your waist to face the shelf, then pick up the red and white bagged disposable water cups from the third layer of the shelf. Rotate your waist again to face the shopping cart and place the red and white bagged disposable water cups into the shopping cart."]}
{"task_id": "take_cup_to_cart", "episode_index": 271, "video_path": "take_cup_to_cart/videos/chunk-000/{video_key}/episode_000271.mp4", "tasks": ["Grasp water cup to cart."], "length": 463, "action_config": [{"start_frame": 0, "end_frame": 122, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 122, "end_frame": 219, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 219, "end_frame": 297, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 297, "end_frame": 345, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf and rotated its waist."}, {"start_frame": 345, "end_frame": 372, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}, {"start_frame": 372, "end_frame": 463, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}], "detailed_task_instruction": ["Rotate your waist to face the shelf, then pick up the red and white bagged disposable water cups from the third layer of the shelf. Rotate your waist again to face the shopping cart and place the red and white bagged disposable water cups into the shopping cart."]}
{"task_id": "take_cup_to_cart", "episode_index": 272, "video_path": "take_cup_to_cart/videos/chunk-000/{video_key}/episode_000272.mp4", "tasks": ["Grasp water cup to cart."], "length": 477, "action_config": [{"start_frame": 0, "end_frame": 131, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 131, "end_frame": 216, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 216, "end_frame": 297, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 297, "end_frame": 344, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf and rotated its waist."}, {"start_frame": 344, "end_frame": 372, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}, {"start_frame": 372, "end_frame": 477, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}], "detailed_task_instruction": ["Rotate your waist to face the shelf, then pick up the red and white bagged disposable water cups from the third layer of the shelf. Rotate your waist again to face the shopping cart and place the red and white bagged disposable water cups into the shopping cart."]}
{"task_id": "take_cup_to_cart", "episode_index": 273, "video_path": "take_cup_to_cart/videos/chunk-000/{video_key}/episode_000273.mp4", "tasks": ["Grasp water cup to cart."], "length": 560, "action_config": [{"start_frame": 0, "end_frame": 157, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 157, "end_frame": 273, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 273, "end_frame": 365, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 365, "end_frame": 393, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf and rotated its waist."}, {"start_frame": 393, "end_frame": 438, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}, {"start_frame": 438, "end_frame": 560, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}], "detailed_task_instruction": ["Rotate your waist to face the shelf, then pick up the red and white bagged disposable water cups from the third layer of the shelf. Rotate your waist again to face the shopping cart and place the red and white bagged disposable water cups into the shopping cart."]}
{"task_id": "take_cup_to_cart", "episode_index": 274, "video_path": "take_cup_to_cart/videos/chunk-000/{video_key}/episode_000274.mp4", "tasks": ["Grasp water cup to cart."], "length": 520, "action_config": [{"start_frame": 0, "end_frame": 138, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 138, "end_frame": 246, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 246, "end_frame": 333, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 333, "end_frame": 369, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf and rotated its waist."}, {"start_frame": 369, "end_frame": 395, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}, {"start_frame": 395, "end_frame": 520, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}], "detailed_task_instruction": ["Rotate your waist to face the shelf, then pick up the red and white bagged disposable water cups from the third layer of the shelf. Rotate your waist again to face the shopping cart and place the red and white bagged disposable water cups into the shopping cart."]}
{"task_id": "take_cup_to_cart", "episode_index": 275, "video_path": "take_cup_to_cart/videos/chunk-000/{video_key}/episode_000275.mp4", "tasks": ["Grasp water cup to cart."], "length": 591, "action_config": [{"start_frame": 0, "end_frame": 114, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 114, "end_frame": 266, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 266, "end_frame": 354, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 354, "end_frame": 402, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf and rotated its waist."}, {"start_frame": 402, "end_frame": 496, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}, {"start_frame": 496, "end_frame": 591, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}], "detailed_task_instruction": ["Rotate your waist to face the shelf, then pick up the red and white bagged disposable water cups from the third layer of the shelf. Rotate your waist again to face the shopping cart and place the red and white bagged disposable water cups into the shopping cart."]}
{"task_id": "take_cup_to_cart", "episode_index": 276, "video_path": "take_cup_to_cart/videos/chunk-000/{video_key}/episode_000276.mp4", "tasks": ["Grasp water cup to cart."], "length": 526, "action_config": [{"start_frame": 0, "end_frame": 120, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 120, "end_frame": 260, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 260, "end_frame": 342, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 342, "end_frame": 390, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf and rotated its waist."}, {"start_frame": 390, "end_frame": 437, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}, {"start_frame": 437, "end_frame": 526, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}], "detailed_task_instruction": ["Rotate your waist to face the shelf, then pick up the red and white bagged disposable water cups from the third layer of the shelf. Rotate your waist again to face the shopping cart and place the red and white bagged disposable water cups into the shopping cart."]}
{"task_id": "take_cup_to_cart", "episode_index": 277, "video_path": "take_cup_to_cart/videos/chunk-000/{video_key}/episode_000277.mp4", "tasks": ["Grasp water cup to cart."], "length": 456, "action_config": [{"start_frame": 0, "end_frame": 108, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 108, "end_frame": 192, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 192, "end_frame": 288, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 288, "end_frame": 324, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf and rotated its waist."}, {"start_frame": 324, "end_frame": 357, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}, {"start_frame": 357, "end_frame": 456, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}], "detailed_task_instruction": ["Rotate your waist to face the shelf, then pick up the red and white bagged disposable water cups from the third layer of the shelf. Rotate your waist again to face the shopping cart and place the red and white bagged disposable water cups into the shopping cart."]}
{"task_id": "take_cup_to_cart", "episode_index": 278, "video_path": "take_cup_to_cart/videos/chunk-000/{video_key}/episode_000278.mp4", "tasks": ["Grasp water cup to cart."], "length": 612, "action_config": [{"start_frame": 0, "end_frame": 132, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 132, "end_frame": 285, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 285, "end_frame": 378, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 378, "end_frame": 443, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf and rotated its waist."}, {"start_frame": 443, "end_frame": 476, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}, {"start_frame": 476, "end_frame": 612, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}], "detailed_task_instruction": ["Rotate your waist to face the shelf, then pick up the red and white bagged disposable water cups from the third layer of the shelf. Rotate your waist again to face the shopping cart and place the red and white bagged disposable water cups into the shopping cart."]}
{"task_id": "take_cup_to_cart", "episode_index": 279, "video_path": "take_cup_to_cart/videos/chunk-000/{video_key}/episode_000279.mp4", "tasks": ["Grasp water cup to cart."], "length": 516, "action_config": [{"start_frame": 0, "end_frame": 116, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 116, "end_frame": 269, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 269, "end_frame": 354, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 354, "end_frame": 399, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf and rotated its waist."}, {"start_frame": 399, "end_frame": 408, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}, {"start_frame": 408, "end_frame": 516, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}], "detailed_task_instruction": ["Rotate your waist to face the shelf, then pick up the red and white bagged disposable water cups from the third layer of the shelf. Rotate your waist again to face the shopping cart and place the red and white bagged disposable water cups into the shopping cart."]}
{"task_id": "take_cup_to_cart", "episode_index": 280, "video_path": "take_cup_to_cart/videos/chunk-000/{video_key}/episode_000280.mp4", "tasks": ["Grasp water cup to cart."], "length": 520, "action_config": [{"start_frame": 0, "end_frame": 110, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 110, "end_frame": 252, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 252, "end_frame": 354, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 354, "end_frame": 396, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf and rotated its waist."}, {"start_frame": 396, "end_frame": 434, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}, {"start_frame": 434, "end_frame": 520, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}], "detailed_task_instruction": ["Rotate your waist to face the shelf, then pick up the red and white bagged disposable water cups from the third layer of the shelf. Rotate your waist again to face the shopping cart and place the red and white bagged disposable water cups into the shopping cart."]}
{"task_id": "take_cup_to_cart", "episode_index": 281, "video_path": "take_cup_to_cart/videos/chunk-000/{video_key}/episode_000281.mp4", "tasks": ["Grasp water cup to cart."], "length": 519, "action_config": [{"start_frame": 0, "end_frame": 134, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 134, "end_frame": 228, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 228, "end_frame": 312, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 312, "end_frame": 395, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf and rotated its waist."}, {"start_frame": 395, "end_frame": 423, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}, {"start_frame": 423, "end_frame": 519, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}], "detailed_task_instruction": ["Rotate your waist to face the shelf, then pick up the red and white bagged disposable water cups from the third layer of the shelf. Rotate your waist again to face the shopping cart and place the red and white bagged disposable water cups into the shopping cart."]}
{"task_id": "take_cup_to_cart", "episode_index": 282, "video_path": "take_cup_to_cart/videos/chunk-000/{video_key}/episode_000282.mp4", "tasks": ["Grasp water cup to cart."], "length": 484, "action_config": [{"start_frame": 0, "end_frame": 98, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 98, "end_frame": 186, "action_text": "pick up the red and white bagged disposable water cups from the third layer of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 186, "end_frame": 278, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf."}, {"start_frame": 278, "end_frame": 327, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot has picked up red and white bagged disposable water cups from the third layer of the shelf and rotated its waist."}, {"start_frame": 327, "end_frame": 378, "action_text": "place the red and white bagged disposable water cups into the shopping cart", "skill": "Place", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}, {"start_frame": 378, "end_frame": 484, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up red and white bagged disposable water cups from the shelf, rotated its waist, and placed the cups into the shopping cart."}], "detailed_task_instruction": ["Rotate your waist to face the shelf, then pick up the red and white bagged disposable water cups from the third layer of the shelf. Rotate your waist again to face the shopping cart and place the red and white bagged disposable water cups into the shopping cart."]}
{"task_id": "take_drink_to_cart", "episode_index": 0, "video_path": "take_drink_to_cart/videos/chunk-000/{video_key}/episode_000000.mp4", "tasks": ["Retrieve drink from freezer."], "length": 1285, "action_config": [{"start_frame": 9, "end_frame": 327, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 327, "end_frame": 762, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 762, "end_frame": 930, "action_text": "rotate the waist to the right and tilt it downward", "skill": "Rotate", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 930, "end_frame": 1044, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot has retrieved the yuzu oolong tea from the refrigerated cabinet and adjusted its orientation by rotating the waist to the right and tilting downward."}, {"start_frame": 1044, "end_frame": 1266, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot retrieved the yuzu oolong tea from the refrigerated cabinet and placed it into the shopping cart."}], "detailed_task_instruction": ["Retrieve the yuzu oolong tea from the refrigerated cabinet by picking it up, rotating your waist to the right while tilting downward, and then placing the drink into the shopping cart."]}
{"task_id": "take_drink_to_cart", "episode_index": 1, "video_path": "take_drink_to_cart/videos/chunk-000/{video_key}/episode_000001.mp4", "tasks": ["Retrieve drink from freezer."], "length": 1209, "action_config": [{"start_frame": 15, "end_frame": 315, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 315, "end_frame": 743, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 743, "end_frame": 912, "action_text": "rotate the waist to the right and tilt it downward", "skill": "Rotate", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 912, "end_frame": 1026, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot has retrieved the yuzu oolong tea from the refrigerated cabinet and adjusted its orientation by rotating the waist to the right and tilting downward."}, {"start_frame": 1026, "end_frame": 1193, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot retrieved the yuzu oolong tea from the refrigerated cabinet and placed it into the shopping cart."}], "detailed_task_instruction": ["Retrieve the yuzu oolong tea from the refrigerated cabinet by picking it up, rotating your waist to the right while tilting downward, and then placing the drink into the shopping cart."]}
{"task_id": "take_drink_to_cart", "episode_index": 2, "video_path": "take_drink_to_cart/videos/chunk-000/{video_key}/episode_000002.mp4", "tasks": ["Retrieve drink from freezer."], "length": 1359, "action_config": [{"start_frame": 45, "end_frame": 474, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 474, "end_frame": 912, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 912, "end_frame": 1073, "action_text": "rotate the waist to the right and tilt it downward", "skill": "Rotate", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 1073, "end_frame": 1176, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot has retrieved the yuzu oolong tea from the refrigerated cabinet and adjusted its orientation by rotating the waist to the right and tilting downward."}, {"start_frame": 1176, "end_frame": 1344, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot retrieved the yuzu oolong tea from the refrigerated cabinet and placed it into the shopping cart."}], "detailed_task_instruction": ["Retrieve the yuzu oolong tea from the refrigerated cabinet by picking it up, rotating your waist to the right while tilting downward, and then placing the drink into the shopping cart."]}
{"task_id": "take_drink_to_cart", "episode_index": 3, "video_path": "take_drink_to_cart/videos/chunk-000/{video_key}/episode_000003.mp4", "tasks": ["Retrieve drink from freezer."], "length": 1493, "action_config": [{"start_frame": 30, "end_frame": 510, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 510, "end_frame": 1046, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 1046, "end_frame": 1185, "action_text": "rotate the waist to the right and tilt it downward", "skill": "Rotate", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 1185, "end_frame": 1283, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot has retrieved the yuzu oolong tea from the refrigerated cabinet and adjusted its orientation by rotating the waist to the right and tilting downward."}, {"start_frame": 1283, "end_frame": 1470, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot retrieved the yuzu oolong tea from the refrigerated cabinet and placed it into the shopping cart."}], "detailed_task_instruction": ["Retrieve the yuzu oolong tea from the refrigerated cabinet by picking it up, rotating your waist to the right while tilting downward, and then placing the drink into the shopping cart."]}
{"task_id": "take_drink_to_cart", "episode_index": 4, "video_path": "take_drink_to_cart/videos/chunk-000/{video_key}/episode_000004.mp4", "tasks": ["Retrieve drink from freezer."], "length": 1331, "action_config": [{"start_frame": 24, "end_frame": 510, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 510, "end_frame": 895, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 895, "end_frame": 1025, "action_text": "rotate the waist to the right and tilt it downward", "skill": "Rotate", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 1025, "end_frame": 1136, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot has retrieved the yuzu oolong tea from the refrigerated cabinet and adjusted its orientation by rotating the waist to the right and tilting downward."}, {"start_frame": 1136, "end_frame": 1313, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot retrieved the yuzu oolong tea from the refrigerated cabinet and placed it into the shopping cart."}], "detailed_task_instruction": ["Retrieve the yuzu oolong tea from the refrigerated cabinet by picking it up, rotating your waist to the right while tilting downward, and then placing the drink into the shopping cart."]}
{"task_id": "take_drink_to_cart", "episode_index": 5, "video_path": "take_drink_to_cart/videos/chunk-000/{video_key}/episode_000005.mp4", "tasks": ["Retrieve drink from freezer."], "length": 1248, "action_config": [{"start_frame": 18, "end_frame": 408, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 408, "end_frame": 815, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 815, "end_frame": 947, "action_text": "rotate the waist to the right and tilt it downward", "skill": "Rotate", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 947, "end_frame": 1017, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot has retrieved the yuzu oolong tea from the refrigerated cabinet and adjusted its orientation by rotating the waist to the right and tilting downward."}, {"start_frame": 1017, "end_frame": 1212, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot retrieved the yuzu oolong tea from the refrigerated cabinet and placed it into the shopping cart."}], "detailed_task_instruction": ["Retrieve the yuzu oolong tea from the refrigerated cabinet by picking it up, rotating your waist to the right while tilting downward, and then placing the drink into the shopping cart."]}
{"task_id": "take_drink_to_cart", "episode_index": 6, "video_path": "take_drink_to_cart/videos/chunk-000/{video_key}/episode_000006.mp4", "tasks": ["Retrieve drink from freezer."], "length": 1439, "action_config": [{"start_frame": 18, "end_frame": 435, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 435, "end_frame": 945, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 945, "end_frame": 1080, "action_text": "rotate the waist to the right and tilt it downward", "skill": "Rotate", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 1080, "end_frame": 1223, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot has retrieved the yuzu oolong tea from the refrigerated cabinet and adjusted its orientation by rotating the waist to the right and tilting downward."}, {"start_frame": 1223, "end_frame": 1401, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot retrieved the yuzu oolong tea from the refrigerated cabinet and placed it into the shopping cart."}], "detailed_task_instruction": ["Retrieve the yuzu oolong tea from the refrigerated cabinet by picking it up, rotating your waist to the right while tilting downward, and then placing the drink into the shopping cart."]}
{"task_id": "take_drink_to_cart", "episode_index": 7, "video_path": "take_drink_to_cart/videos/chunk-000/{video_key}/episode_000007.mp4", "tasks": ["Retrieve drink from freezer."], "length": 1154, "action_config": [{"start_frame": 8, "end_frame": 372, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 372, "end_frame": 772, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 772, "end_frame": 906, "action_text": "rotate the waist to the right and tilt it downward", "skill": "Rotate", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 906, "end_frame": 981, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot has retrieved the yuzu oolong tea from the refrigerated cabinet and adjusted its orientation by rotating the waist to the right and tilting downward."}, {"start_frame": 981, "end_frame": 1140, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot retrieved the yuzu oolong tea from the refrigerated cabinet and placed it into the shopping cart."}], "detailed_task_instruction": ["Retrieve the yuzu oolong tea from the refrigerated cabinet by picking it up, rotating your waist to the right while tilting downward, and then placing the drink into the shopping cart."]}
{"task_id": "take_drink_to_cart", "episode_index": 8, "video_path": "take_drink_to_cart/videos/chunk-000/{video_key}/episode_000008.mp4", "tasks": ["Retrieve drink from freezer."], "length": 1616, "action_config": [{"start_frame": 26, "end_frame": 468, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 468, "end_frame": 1097, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 1097, "end_frame": 1254, "action_text": "rotate the waist to the right and tilt it downward", "skill": "Rotate", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 1254, "end_frame": 1374, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot has retrieved the yuzu oolong tea from the refrigerated cabinet and adjusted its orientation by rotating the waist to the right and tilting downward."}, {"start_frame": 1374, "end_frame": 1596, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot retrieved the yuzu oolong tea from the refrigerated cabinet and placed it into the shopping cart."}], "detailed_task_instruction": ["Retrieve the yuzu oolong tea from the refrigerated cabinet by picking it up, rotating your waist to the right while tilting downward, and then placing the drink into the shopping cart."]}
{"task_id": "take_drink_to_cart", "episode_index": 9, "video_path": "take_drink_to_cart/videos/chunk-000/{video_key}/episode_000009.mp4", "tasks": ["Retrieve drink from freezer."], "length": 1157, "action_config": [{"start_frame": 15, "end_frame": 287, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 287, "end_frame": 720, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 720, "end_frame": 851, "action_text": "rotate the waist to the right and tilt it downward", "skill": "Rotate", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 851, "end_frame": 956, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot has retrieved the yuzu oolong tea from the refrigerated cabinet and adjusted its orientation by rotating the waist to the right and tilting downward."}, {"start_frame": 956, "end_frame": 1143, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot retrieved the yuzu oolong tea from the refrigerated cabinet and placed it into the shopping cart."}], "detailed_task_instruction": ["Retrieve the yuzu oolong tea from the refrigerated cabinet by picking it up, rotating your waist to the right while tilting downward, and then placing the drink into the shopping cart."]}
{"task_id": "take_drink_to_cart", "episode_index": 10, "video_path": "take_drink_to_cart/videos/chunk-000/{video_key}/episode_000010.mp4", "tasks": ["Retrieve drink from freezer."], "length": 1581, "action_config": [{"start_frame": 21, "end_frame": 510, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 510, "end_frame": 1040, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 1040, "end_frame": 1178, "action_text": "rotate the waist to the right and tilt it downward", "skill": "Rotate", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 1178, "end_frame": 1299, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot has retrieved the yuzu oolong tea from the refrigerated cabinet and adjusted its orientation by rotating the waist to the right and tilting downward."}, {"start_frame": 1299, "end_frame": 1559, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot retrieved the yuzu oolong tea from the refrigerated cabinet and placed it into the shopping cart."}], "detailed_task_instruction": ["Retrieve the yuzu oolong tea from the refrigerated cabinet by picking it up, rotating your waist to the right while tilting downward, and then placing the drink into the shopping cart."]}
{"task_id": "take_drink_to_cart", "episode_index": 11, "video_path": "take_drink_to_cart/videos/chunk-000/{video_key}/episode_000011.mp4", "tasks": ["Retrieve drink from freezer."], "length": 1274, "action_config": [{"start_frame": 20, "end_frame": 363, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 363, "end_frame": 942, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 942, "end_frame": 1062, "action_text": "rotate the waist to the right and tilt it downward", "skill": "Rotate", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 1062, "end_frame": 1158, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot has retrieved the yuzu oolong tea from the refrigerated cabinet and adjusted its orientation by rotating the waist to the right and tilting downward."}, {"start_frame": 1158, "end_frame": 1266, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot retrieved the yuzu oolong tea from the refrigerated cabinet and placed it into the shopping cart."}], "detailed_task_instruction": ["Retrieve the yuzu oolong tea from the refrigerated cabinet by picking it up, rotating your waist to the right while tilting downward, and then placing the drink into the shopping cart."]}
{"task_id": "take_drink_to_cart", "episode_index": 12, "video_path": "take_drink_to_cart/videos/chunk-000/{video_key}/episode_000012.mp4", "tasks": ["Retrieve drink from freezer."], "length": 1287, "action_config": [{"start_frame": 0, "end_frame": 414, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 414, "end_frame": 846, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 846, "end_frame": 989, "action_text": "rotate the waist to the right and tilt it downward", "skill": "Rotate", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 989, "end_frame": 1091, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot has retrieved the yuzu oolong tea from the refrigerated cabinet and adjusted its orientation by rotating the waist to the right and tilting downward."}, {"start_frame": 1091, "end_frame": 1271, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot retrieved the yuzu oolong tea from the refrigerated cabinet and placed it into the shopping cart."}], "detailed_task_instruction": ["Retrieve the yuzu oolong tea from the refrigerated cabinet by picking it up, rotating your waist to the right while tilting downward, and then placing the drink into the shopping cart."]}
{"task_id": "take_drink_to_cart", "episode_index": 13, "video_path": "take_drink_to_cart/videos/chunk-000/{video_key}/episode_000013.mp4", "tasks": ["Retrieve drink from freezer."], "length": 1379, "action_config": [{"start_frame": 45, "end_frame": 608, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 608, "end_frame": 1005, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 1005, "end_frame": 1128, "action_text": "rotate the waist to the right and tilt it downward", "skill": "Rotate", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 1128, "end_frame": 1204, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot has retrieved the yuzu oolong tea from the refrigerated cabinet and adjusted its orientation by rotating the waist to the right and tilting downward."}, {"start_frame": 1204, "end_frame": 1365, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot retrieved the yuzu oolong tea from the refrigerated cabinet and placed it into the shopping cart."}], "detailed_task_instruction": ["Retrieve the yuzu oolong tea from the refrigerated cabinet by picking it up, rotating your waist to the right while tilting downward, and then placing the drink into the shopping cart."]}
{"task_id": "take_drink_to_cart", "episode_index": 14, "video_path": "take_drink_to_cart/videos/chunk-000/{video_key}/episode_000014.mp4", "tasks": ["Retrieve drink from freezer."], "length": 1553, "action_config": [{"start_frame": 15, "end_frame": 413, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 413, "end_frame": 1049, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 1049, "end_frame": 1185, "action_text": "rotate the waist to the right and tilt it downward", "skill": "Rotate", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 1185, "end_frame": 1321, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot has retrieved the yuzu oolong tea from the refrigerated cabinet and adjusted its orientation by rotating the waist to the right and tilting downward."}, {"start_frame": 1321, "end_frame": 1533, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot retrieved the yuzu oolong tea from the refrigerated cabinet and placed it into the shopping cart."}], "detailed_task_instruction": ["Retrieve the yuzu oolong tea from the refrigerated cabinet by picking it up, rotating your waist to the right while tilting downward, and then placing the drink into the shopping cart."]}
{"task_id": "take_drink_to_cart", "episode_index": 15, "video_path": "take_drink_to_cart/videos/chunk-000/{video_key}/episode_000015.mp4", "tasks": ["Retrieve drink from freezer."], "length": 1380, "action_config": [{"start_frame": 18, "end_frame": 497, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 497, "end_frame": 939, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 939, "end_frame": 1077, "action_text": "rotate the waist to the right and tilt it downward", "skill": "Rotate", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 1077, "end_frame": 1174, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot has retrieved the yuzu oolong tea from the refrigerated cabinet and adjusted its orientation by rotating the waist to the right and tilting downward."}, {"start_frame": 1174, "end_frame": 1371, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot retrieved the yuzu oolong tea from the refrigerated cabinet and placed it into the shopping cart."}], "detailed_task_instruction": ["Retrieve the yuzu oolong tea from the refrigerated cabinet by picking it up, rotating your waist to the right while tilting downward, and then placing the drink into the shopping cart."]}
{"task_id": "take_drink_to_cart", "episode_index": 16, "video_path": "take_drink_to_cart/videos/chunk-000/{video_key}/episode_000016.mp4", "tasks": ["Retrieve drink from freezer."], "length": 1208, "action_config": [{"start_frame": 0, "end_frame": 336, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 336, "end_frame": 780, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 780, "end_frame": 894, "action_text": "rotate the waist to the right and tilt it downward", "skill": "Rotate", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 894, "end_frame": 1033, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot has retrieved the yuzu oolong tea from the refrigerated cabinet and adjusted its orientation by rotating the waist to the right and tilting downward."}, {"start_frame": 1033, "end_frame": 1176, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot retrieved the yuzu oolong tea from the refrigerated cabinet and placed it into the shopping cart."}], "detailed_task_instruction": ["Retrieve the yuzu oolong tea from the refrigerated cabinet by picking it up, rotating your waist to the right while tilting downward, and then placing the drink into the shopping cart."]}
{"task_id": "take_drink_to_cart", "episode_index": 17, "video_path": "take_drink_to_cart/videos/chunk-000/{video_key}/episode_000017.mp4", "tasks": ["Retrieve drink from freezer."], "length": 1573, "action_config": [{"start_frame": 18, "end_frame": 519, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 519, "end_frame": 1037, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 1037, "end_frame": 1197, "action_text": "rotate the waist to the right and tilt it downward", "skill": "Rotate", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 1197, "end_frame": 1321, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot has retrieved the yuzu oolong tea from the refrigerated cabinet and adjusted its orientation by rotating the waist to the right and tilting downward."}, {"start_frame": 1321, "end_frame": 1527, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot retrieved the yuzu oolong tea from the refrigerated cabinet and placed it into the shopping cart."}], "detailed_task_instruction": ["Retrieve the yuzu oolong tea from the refrigerated cabinet by picking it up, rotating your waist to the right while tilting downward, and then placing the drink into the shopping cart."]}
{"task_id": "take_drink_to_cart", "episode_index": 18, "video_path": "take_drink_to_cart/videos/chunk-000/{video_key}/episode_000018.mp4", "tasks": ["Retrieve drink from freezer."], "length": 1421, "action_config": [{"start_frame": 15, "end_frame": 392, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 392, "end_frame": 1053, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 1053, "end_frame": 1188, "action_text": "rotate the waist to the right and tilt it downward", "skill": "Rotate", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 1188, "end_frame": 1257, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot has retrieved the yuzu oolong tea from the refrigerated cabinet and adjusted its orientation by rotating the waist to the right and tilting downward."}, {"start_frame": 1257, "end_frame": 1401, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot retrieved the yuzu oolong tea from the refrigerated cabinet and placed it into the shopping cart."}], "detailed_task_instruction": ["Retrieve the yuzu oolong tea from the refrigerated cabinet by picking it up, rotating your waist to the right while tilting downward, and then placing the drink into the shopping cart."]}
{"task_id": "take_drink_to_cart", "episode_index": 19, "video_path": "take_drink_to_cart/videos/chunk-000/{video_key}/episode_000019.mp4", "tasks": ["Retrieve drink from freezer."], "length": 1407, "action_config": [{"start_frame": 12, "end_frame": 375, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 375, "end_frame": 1013, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 1013, "end_frame": 1145, "action_text": "rotate the waist to the right and tilt it downward", "skill": "Rotate", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 1145, "end_frame": 1259, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot has retrieved the yuzu oolong tea from the refrigerated cabinet and adjusted its orientation by rotating the waist to the right and tilting downward."}, {"start_frame": 1259, "end_frame": 1397, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot retrieved the yuzu oolong tea from the refrigerated cabinet and placed it into the shopping cart."}], "detailed_task_instruction": ["Retrieve the yuzu oolong tea from the refrigerated cabinet by picking it up, rotating your waist to the right while tilting downward, and then placing the drink into the shopping cart."]}
{"task_id": "take_drink_to_cart", "episode_index": 20, "video_path": "take_drink_to_cart/videos/chunk-000/{video_key}/episode_000020.mp4", "tasks": ["Retrieve drink from freezer."], "length": 1640, "action_config": [{"start_frame": 35, "end_frame": 455, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 455, "end_frame": 975, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 975, "end_frame": 1125, "action_text": "rotate the waist to the right and tilt it downward", "skill": "Rotate", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 1125, "end_frame": 1229, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot has retrieved the yuzu oolong tea from the refrigerated cabinet and adjusted its orientation by rotating the waist to the right and tilting downward."}, {"start_frame": 1229, "end_frame": 1602, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot retrieved the yuzu oolong tea from the refrigerated cabinet and placed it into the shopping cart."}], "detailed_task_instruction": ["Retrieve the yuzu oolong tea from the refrigerated cabinet by picking it up, rotating your waist to the right while tilting downward, and then placing the drink into the shopping cart."]}
{"task_id": "take_drink_to_cart", "episode_index": 21, "video_path": "take_drink_to_cart/videos/chunk-000/{video_key}/episode_000021.mp4", "tasks": ["Retrieve drink from freezer."], "length": 1241, "action_config": [{"start_frame": 21, "end_frame": 363, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 363, "end_frame": 804, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 804, "end_frame": 936, "action_text": "rotate the waist to the right and tilt it downward", "skill": "Rotate", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 936, "end_frame": 1053, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot has retrieved the yuzu oolong tea from the refrigerated cabinet and adjusted its orientation by rotating the waist to the right and tilting downward."}, {"start_frame": 1053, "end_frame": 1229, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot retrieved the yuzu oolong tea from the refrigerated cabinet and placed it into the shopping cart."}], "detailed_task_instruction": ["Retrieve the yuzu oolong tea from the refrigerated cabinet by picking it up, rotating your waist to the right while tilting downward, and then placing the drink into the shopping cart."]}
{"task_id": "take_drink_to_cart", "episode_index": 22, "video_path": "take_drink_to_cart/videos/chunk-000/{video_key}/episode_000022.mp4", "tasks": ["Retrieve drink from freezer."], "length": 1061, "action_config": [{"start_frame": 22, "end_frame": 324, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 324, "end_frame": 647, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 647, "end_frame": 839, "action_text": "rotate the waist to the right and tilt it downward", "skill": "Rotate", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 839, "end_frame": 897, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot has retrieved the yuzu oolong tea from the refrigerated cabinet and adjusted its orientation by rotating the waist to the right and tilting downward."}, {"start_frame": 897, "end_frame": 1037, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot retrieved the yuzu oolong tea from the refrigerated cabinet and placed it into the shopping cart."}], "detailed_task_instruction": ["Retrieve the yuzu oolong tea from the refrigerated cabinet by picking it up, rotating your waist to the right while tilting downward, and then placing the drink into the shopping cart."]}
{"task_id": "take_drink_to_cart", "episode_index": 23, "video_path": "take_drink_to_cart/videos/chunk-000/{video_key}/episode_000023.mp4", "tasks": ["Retrieve drink from freezer."], "length": 1437, "action_config": [{"start_frame": 11, "end_frame": 477, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 477, "end_frame": 915, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 915, "end_frame": 1067, "action_text": "rotate the waist to the right and tilt it downward", "skill": "Rotate", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 1067, "end_frame": 1176, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot has retrieved the yuzu oolong tea from the refrigerated cabinet and adjusted its orientation by rotating the waist to the right and tilting downward."}, {"start_frame": 1176, "end_frame": 1388, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot retrieved the yuzu oolong tea from the refrigerated cabinet and placed it into the shopping cart."}], "detailed_task_instruction": ["Retrieve the yuzu oolong tea from the refrigerated cabinet by picking it up, rotating your waist to the right while tilting downward, and then placing the drink into the shopping cart."]}
{"task_id": "take_drink_to_cart", "episode_index": 24, "video_path": "take_drink_to_cart/videos/chunk-000/{video_key}/episode_000024.mp4", "tasks": ["Retrieve drink from freezer."], "length": 1290, "action_config": [{"start_frame": 27, "end_frame": 417, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 417, "end_frame": 816, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 816, "end_frame": 954, "action_text": "rotate the waist to the right and tilt it downward", "skill": "Rotate", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 954, "end_frame": 1057, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot has retrieved the yuzu oolong tea from the refrigerated cabinet and adjusted its orientation by rotating the waist to the right and tilting downward."}, {"start_frame": 1057, "end_frame": 1271, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot retrieved the yuzu oolong tea from the refrigerated cabinet and placed it into the shopping cart."}], "detailed_task_instruction": ["Retrieve the yuzu oolong tea from the refrigerated cabinet by picking it up, rotating your waist to the right while tilting downward, and then placing the drink into the shopping cart."]}
{"task_id": "take_drink_to_cart", "episode_index": 25, "video_path": "take_drink_to_cart/videos/chunk-000/{video_key}/episode_000025.mp4", "tasks": ["Retrieve drink from freezer."], "length": 1317, "action_config": [{"start_frame": 26, "end_frame": 324, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 324, "end_frame": 810, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 810, "end_frame": 969, "action_text": "rotate the waist to the right and tilt it downward", "skill": "Rotate", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 969, "end_frame": 1070, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot has retrieved the yuzu oolong tea from the refrigerated cabinet and adjusted its orientation by rotating the waist to the right and tilting downward."}, {"start_frame": 1070, "end_frame": 1298, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot retrieved the yuzu oolong tea from the refrigerated cabinet and placed it into the shopping cart."}], "detailed_task_instruction": ["Retrieve the yuzu oolong tea from the refrigerated cabinet by picking it up, rotating your waist to the right while tilting downward, and then placing the drink into the shopping cart."]}
{"task_id": "take_drink_to_cart", "episode_index": 26, "video_path": "take_drink_to_cart/videos/chunk-000/{video_key}/episode_000026.mp4", "tasks": ["Retrieve drink from freezer."], "length": 1473, "action_config": [{"start_frame": 66, "end_frame": 496, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 496, "end_frame": 1007, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 1007, "end_frame": 1173, "action_text": "rotate the waist to the right and tilt it downward", "skill": "Rotate", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 1173, "end_frame": 1235, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot has retrieved the yuzu oolong tea from the refrigerated cabinet and adjusted its orientation by rotating the waist to the right and tilting downward."}, {"start_frame": 1235, "end_frame": 1454, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot retrieved the yuzu oolong tea from the refrigerated cabinet and placed it into the shopping cart."}], "detailed_task_instruction": ["Retrieve the yuzu oolong tea from the refrigerated cabinet by picking it up, rotating your waist to the right while tilting downward, and then placing the drink into the shopping cart."]}
{"task_id": "take_drink_to_cart", "episode_index": 27, "video_path": "take_drink_to_cart/videos/chunk-000/{video_key}/episode_000027.mp4", "tasks": ["Retrieve drink from freezer."], "length": 1846, "action_config": [{"start_frame": 0, "end_frame": 812, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 812, "end_frame": 1273, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 1273, "end_frame": 1437, "action_text": "rotate the waist to the right and tilt it downward", "skill": "Rotate", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 1437, "end_frame": 1555, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot has retrieved the yuzu oolong tea from the refrigerated cabinet and adjusted its orientation by rotating the waist to the right and tilting downward."}, {"start_frame": 1555, "end_frame": 1767, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot retrieved the yuzu oolong tea from the refrigerated cabinet and placed it into the shopping cart."}], "detailed_task_instruction": ["Retrieve the yuzu oolong tea from the refrigerated cabinet by picking it up, rotating your waist to the right while tilting downward, and then placing the drink into the shopping cart."]}
{"task_id": "take_drink_to_cart", "episode_index": 28, "video_path": "take_drink_to_cart/videos/chunk-000/{video_key}/episode_000028.mp4", "tasks": ["Retrieve drink from freezer."], "length": 1503, "action_config": [{"start_frame": 27, "end_frame": 447, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 447, "end_frame": 933, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 933, "end_frame": 1056, "action_text": "rotate the waist to the right and tilt it downward", "skill": "Rotate", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 1056, "end_frame": 1159, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot has retrieved the yuzu oolong tea from the refrigerated cabinet and adjusted its orientation by rotating the waist to the right and tilting downward."}, {"start_frame": 1159, "end_frame": 1490, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot retrieved the yuzu oolong tea from the refrigerated cabinet and placed it into the shopping cart."}], "detailed_task_instruction": ["Retrieve the yuzu oolong tea from the refrigerated cabinet by picking it up, rotating your waist to the right while tilting downward, and then placing the drink into the shopping cart."]}
{"task_id": "take_drink_to_cart", "episode_index": 29, "video_path": "take_drink_to_cart/videos/chunk-000/{video_key}/episode_000029.mp4", "tasks": ["Retrieve drink from freezer."], "length": 1371, "action_config": [{"start_frame": 20, "end_frame": 356, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 356, "end_frame": 828, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 828, "end_frame": 1001, "action_text": "rotate the waist to the right and tilt it downward", "skill": "Rotate", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 1001, "end_frame": 1131, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot has retrieved the yuzu oolong tea from the refrigerated cabinet and adjusted its orientation by rotating the waist to the right and tilting downward."}, {"start_frame": 1131, "end_frame": 1350, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot retrieved the yuzu oolong tea from the refrigerated cabinet and placed it into the shopping cart."}], "detailed_task_instruction": ["Retrieve the yuzu oolong tea from the refrigerated cabinet by picking it up, rotating your waist to the right while tilting downward, and then placing the drink into the shopping cart."]}
{"task_id": "take_drink_to_cart", "episode_index": 30, "video_path": "take_drink_to_cart/videos/chunk-000/{video_key}/episode_000030.mp4", "tasks": ["Retrieve drink from freezer."], "length": 1045, "action_config": [{"start_frame": 0, "end_frame": 304, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 304, "end_frame": 648, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 648, "end_frame": 789, "action_text": "rotate the waist to the right and tilt it downward", "skill": "Rotate", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 789, "end_frame": 872, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot has retrieved the yuzu oolong tea from the refrigerated cabinet and adjusted its orientation by rotating the waist to the right and tilting downward."}, {"start_frame": 872, "end_frame": 1029, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot retrieved the yuzu oolong tea from the refrigerated cabinet and placed it into the shopping cart."}], "detailed_task_instruction": ["Retrieve the yuzu oolong tea from the refrigerated cabinet by picking it up, rotating your waist to the right while tilting downward, and then placing the drink into the shopping cart."]}
{"task_id": "take_drink_to_cart", "episode_index": 31, "video_path": "take_drink_to_cart/videos/chunk-000/{video_key}/episode_000031.mp4", "tasks": ["Retrieve drink from freezer."], "length": 1318, "action_config": [{"start_frame": 21, "end_frame": 423, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 423, "end_frame": 879, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 879, "end_frame": 1023, "action_text": "rotate the waist to the right and tilt it downward", "skill": "Rotate", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 1023, "end_frame": 1119, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot has retrieved the yuzu oolong tea from the refrigerated cabinet and adjusted its orientation by rotating the waist to the right and tilting downward."}, {"start_frame": 1119, "end_frame": 1289, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot retrieved the yuzu oolong tea from the refrigerated cabinet and placed it into the shopping cart."}], "detailed_task_instruction": ["Retrieve the yuzu oolong tea from the refrigerated cabinet by picking it up, rotating your waist to the right while tilting downward, and then placing the drink into the shopping cart."]}
{"task_id": "take_drink_to_cart", "episode_index": 32, "video_path": "take_drink_to_cart/videos/chunk-000/{video_key}/episode_000032.mp4", "tasks": ["Retrieve drink from freezer."], "length": 1276, "action_config": [{"start_frame": 9, "end_frame": 355, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 355, "end_frame": 795, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 795, "end_frame": 962, "action_text": "rotate the waist to the right and tilt it downward", "skill": "Rotate", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 962, "end_frame": 1050, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot has retrieved the yuzu oolong tea from the refrigerated cabinet and adjusted its orientation by rotating the waist to the right and tilting downward."}, {"start_frame": 1050, "end_frame": 1263, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot retrieved the yuzu oolong tea from the refrigerated cabinet and placed it into the shopping cart."}], "detailed_task_instruction": ["Retrieve the yuzu oolong tea from the refrigerated cabinet by picking it up, rotating your waist to the right while tilting downward, and then placing the drink into the shopping cart."]}
{"task_id": "take_drink_to_cart", "episode_index": 33, "video_path": "take_drink_to_cart/videos/chunk-000/{video_key}/episode_000033.mp4", "tasks": ["Retrieve drink from freezer."], "length": 1499, "action_config": [{"start_frame": 18, "end_frame": 444, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 444, "end_frame": 998, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 998, "end_frame": 1152, "action_text": "rotate the waist to the right and tilt it downward", "skill": "Rotate", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 1152, "end_frame": 1269, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot has retrieved the yuzu oolong tea from the refrigerated cabinet and adjusted its orientation by rotating the waist to the right and tilting downward."}, {"start_frame": 1269, "end_frame": 1482, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot retrieved the yuzu oolong tea from the refrigerated cabinet and placed it into the shopping cart."}], "detailed_task_instruction": ["Retrieve the yuzu oolong tea from the refrigerated cabinet by picking it up, rotating your waist to the right while tilting downward, and then placing the drink into the shopping cart."]}
{"task_id": "take_drink_to_cart", "episode_index": 34, "video_path": "take_drink_to_cart/videos/chunk-000/{video_key}/episode_000034.mp4", "tasks": ["Retrieve drink from freezer."], "length": 1213, "action_config": [{"start_frame": 27, "end_frame": 353, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 353, "end_frame": 829, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 829, "end_frame": 963, "action_text": "rotate the waist to the right and tilt it downward", "skill": "Rotate", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 963, "end_frame": 1006, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot has retrieved the yuzu oolong tea from the refrigerated cabinet and adjusted its orientation by rotating the waist to the right and tilting downward."}, {"start_frame": 1006, "end_frame": 1199, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot retrieved the yuzu oolong tea from the refrigerated cabinet and placed it into the shopping cart."}], "detailed_task_instruction": ["Retrieve the yuzu oolong tea from the refrigerated cabinet by picking it up, rotating your waist to the right while tilting downward, and then placing the drink into the shopping cart."]}
{"task_id": "take_drink_to_cart", "episode_index": 35, "video_path": "take_drink_to_cart/videos/chunk-000/{video_key}/episode_000035.mp4", "tasks": ["Retrieve drink from freezer."], "length": 1234, "action_config": [{"start_frame": 35, "end_frame": 378, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 378, "end_frame": 801, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 801, "end_frame": 936, "action_text": "rotate the waist to the right and tilt it downward", "skill": "Rotate", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 936, "end_frame": 1035, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot has retrieved the yuzu oolong tea from the refrigerated cabinet and adjusted its orientation by rotating the waist to the right and tilting downward."}, {"start_frame": 1035, "end_frame": 1221, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot retrieved the yuzu oolong tea from the refrigerated cabinet and placed it into the shopping cart."}], "detailed_task_instruction": ["Retrieve the yuzu oolong tea from the refrigerated cabinet by picking it up, rotating your waist to the right while tilting downward, and then placing the drink into the shopping cart."]}
{"task_id": "take_drink_to_cart", "episode_index": 36, "video_path": "take_drink_to_cart/videos/chunk-000/{video_key}/episode_000036.mp4", "tasks": ["Retrieve drink from freezer."], "length": 1229, "action_config": [{"start_frame": 17, "end_frame": 441, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 441, "end_frame": 830, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 830, "end_frame": 963, "action_text": "rotate the waist to the right and tilt it downward", "skill": "Rotate", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 963, "end_frame": 1028, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot has retrieved the yuzu oolong tea from the refrigerated cabinet and adjusted its orientation by rotating the waist to the right and tilting downward."}, {"start_frame": 1028, "end_frame": 1229, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot retrieved the yuzu oolong tea from the refrigerated cabinet and placed it into the shopping cart."}], "detailed_task_instruction": ["Retrieve the yuzu oolong tea from the refrigerated cabinet by picking it up, rotating your waist to the right while tilting downward, and then placing the drink into the shopping cart."]}
{"task_id": "take_drink_to_cart", "episode_index": 37, "video_path": "take_drink_to_cart/videos/chunk-000/{video_key}/episode_000037.mp4", "tasks": ["Retrieve drink from freezer."], "length": 1183, "action_config": [{"start_frame": 36, "end_frame": 342, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 342, "end_frame": 690, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 690, "end_frame": 842, "action_text": "rotate the waist to the right and tilt it downward", "skill": "Rotate", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 842, "end_frame": 940, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot has retrieved the yuzu oolong tea from the refrigerated cabinet and adjusted its orientation by rotating the waist to the right and tilting downward."}, {"start_frame": 940, "end_frame": 1110, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot retrieved the yuzu oolong tea from the refrigerated cabinet and placed it into the shopping cart."}], "detailed_task_instruction": ["Retrieve the yuzu oolong tea from the refrigerated cabinet by picking it up, rotating your waist to the right while tilting downward, and then placing the drink into the shopping cart."]}
{"task_id": "take_drink_to_cart", "episode_index": 38, "video_path": "take_drink_to_cart/videos/chunk-000/{video_key}/episode_000038.mp4", "tasks": ["Retrieve drink from freezer."], "length": 1425, "action_config": [{"start_frame": 32, "end_frame": 453, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 453, "end_frame": 864, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 864, "end_frame": 1002, "action_text": "rotate the waist to the right and tilt it downward", "skill": "Rotate", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 1002, "end_frame": 1098, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot has retrieved the yuzu oolong tea from the refrigerated cabinet and adjusted its orientation by rotating the waist to the right and tilting downward."}, {"start_frame": 1098, "end_frame": 1394, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot retrieved the yuzu oolong tea from the refrigerated cabinet and placed it into the shopping cart."}], "detailed_task_instruction": ["Retrieve the yuzu oolong tea from the refrigerated cabinet by picking it up, rotating your waist to the right while tilting downward, and then placing the drink into the shopping cart."]}
{"task_id": "take_drink_to_cart", "episode_index": 39, "video_path": "take_drink_to_cart/videos/chunk-000/{video_key}/episode_000039.mp4", "tasks": ["Retrieve drink from freezer."], "length": 1604, "action_config": [{"start_frame": 0, "end_frame": 474, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 474, "end_frame": 1052, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 1052, "end_frame": 1221, "action_text": "rotate the waist to the right and tilt it downward", "skill": "Rotate", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 1221, "end_frame": 1314, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot has retrieved the yuzu oolong tea from the refrigerated cabinet and adjusted its orientation by rotating the waist to the right and tilting downward."}, {"start_frame": 1314, "end_frame": 1604, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot retrieved the yuzu oolong tea from the refrigerated cabinet and placed it into the shopping cart."}], "detailed_task_instruction": ["Retrieve the yuzu oolong tea from the refrigerated cabinet by picking it up, rotating your waist to the right while tilting downward, and then placing the drink into the shopping cart."]}
{"task_id": "take_drink_to_cart", "episode_index": 40, "video_path": "take_drink_to_cart/videos/chunk-000/{video_key}/episode_000040.mp4", "tasks": ["Retrieve drink from freezer."], "length": 1303, "action_config": [{"start_frame": 30, "end_frame": 419, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 419, "end_frame": 855, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 855, "end_frame": 992, "action_text": "rotate the waist to the right and tilt it downward", "skill": "Rotate", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 992, "end_frame": 1096, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot has retrieved the yuzu oolong tea from the refrigerated cabinet and adjusted its orientation by rotating the waist to the right and tilting downward."}, {"start_frame": 1096, "end_frame": 1303, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot retrieved the yuzu oolong tea from the refrigerated cabinet and placed it into the shopping cart."}], "detailed_task_instruction": ["Retrieve the yuzu oolong tea from the refrigerated cabinet by picking it up, rotating your waist to the right while tilting downward, and then placing the drink into the shopping cart."]}
{"task_id": "take_drink_to_cart", "episode_index": 41, "video_path": "take_drink_to_cart/videos/chunk-000/{video_key}/episode_000041.mp4", "tasks": ["Retrieve drink from freezer."], "length": 1263, "action_config": [{"start_frame": 24, "end_frame": 387, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 387, "end_frame": 860, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 860, "end_frame": 990, "action_text": "rotate the waist to the right and tilt it downward", "skill": "Rotate", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 990, "end_frame": 1053, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot has retrieved the yuzu oolong tea from the refrigerated cabinet and adjusted its orientation by rotating the waist to the right and tilting downward."}, {"start_frame": 1053, "end_frame": 1233, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot retrieved the yuzu oolong tea from the refrigerated cabinet and placed it into the shopping cart."}], "detailed_task_instruction": ["Retrieve the yuzu oolong tea from the refrigerated cabinet by picking it up, rotating your waist to the right while tilting downward, and then placing the drink into the shopping cart."]}
{"task_id": "take_drink_to_cart", "episode_index": 42, "video_path": "take_drink_to_cart/videos/chunk-000/{video_key}/episode_000042.mp4", "tasks": ["Retrieve drink from freezer."], "length": 1507, "action_config": [{"start_frame": 35, "end_frame": 541, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 541, "end_frame": 1067, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 1067, "end_frame": 1194, "action_text": "rotate the waist to the right and tilt it downward", "skill": "Rotate", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 1194, "end_frame": 1295, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot has retrieved the yuzu oolong tea from the refrigerated cabinet and adjusted its orientation by rotating the waist to the right and tilting downward."}, {"start_frame": 1295, "end_frame": 1479, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot retrieved the yuzu oolong tea from the refrigerated cabinet and placed it into the shopping cart."}], "detailed_task_instruction": ["Retrieve the yuzu oolong tea from the refrigerated cabinet by picking it up, rotating your waist to the right while tilting downward, and then placing the drink into the shopping cart."]}
{"task_id": "take_drink_to_cart", "episode_index": 43, "video_path": "take_drink_to_cart/videos/chunk-000/{video_key}/episode_000043.mp4", "tasks": ["Retrieve drink from freezer."], "length": 1269, "action_config": [{"start_frame": 27, "end_frame": 330, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 330, "end_frame": 876, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 876, "end_frame": 1007, "action_text": "rotate the waist to the right and tilt it downward", "skill": "Rotate", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 1007, "end_frame": 1090, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot has retrieved the yuzu oolong tea from the refrigerated cabinet and adjusted its orientation by rotating the waist to the right and tilting downward."}, {"start_frame": 1090, "end_frame": 1269, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot retrieved the yuzu oolong tea from the refrigerated cabinet and placed it into the shopping cart."}], "detailed_task_instruction": ["Retrieve the yuzu oolong tea from the refrigerated cabinet by picking it up, rotating your waist to the right while tilting downward, and then placing the drink into the shopping cart."]}
{"task_id": "take_drink_to_cart", "episode_index": 44, "video_path": "take_drink_to_cart/videos/chunk-000/{video_key}/episode_000044.mp4", "tasks": ["Retrieve drink from freezer."], "length": 1439, "action_config": [{"start_frame": 11, "end_frame": 451, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 451, "end_frame": 923, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 923, "end_frame": 1230, "action_text": "rotate the waist to the right and tilt it downward", "skill": "Rotate", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 1230, "end_frame": 1278, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot has retrieved the yuzu oolong tea from the refrigerated cabinet and adjusted its orientation by rotating the waist to the right and tilting downward."}, {"start_frame": 1278, "end_frame": 1420, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot retrieved the yuzu oolong tea from the refrigerated cabinet and placed it into the shopping cart."}], "detailed_task_instruction": ["Retrieve the yuzu oolong tea from the refrigerated cabinet by picking it up, rotating your waist to the right while tilting downward, and then placing the drink into the shopping cart."]}
{"task_id": "take_drink_to_cart", "episode_index": 45, "video_path": "take_drink_to_cart/videos/chunk-000/{video_key}/episode_000045.mp4", "tasks": ["Retrieve drink from freezer."], "length": 1459, "action_config": [{"start_frame": 27, "end_frame": 525, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 525, "end_frame": 996, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 996, "end_frame": 1155, "action_text": "rotate the waist to the right and tilt it downward", "skill": "Rotate", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 1155, "end_frame": 1239, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot has retrieved the yuzu oolong tea from the refrigerated cabinet and adjusted its orientation by rotating the waist to the right and tilting downward."}, {"start_frame": 1239, "end_frame": 1436, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot retrieved the yuzu oolong tea from the refrigerated cabinet and placed it into the shopping cart."}], "detailed_task_instruction": ["Retrieve the yuzu oolong tea from the refrigerated cabinet by picking it up, rotating your waist to the right while tilting downward, and then placing the drink into the shopping cart."]}
{"task_id": "take_drink_to_cart", "episode_index": 46, "video_path": "take_drink_to_cart/videos/chunk-000/{video_key}/episode_000046.mp4", "tasks": ["Retrieve drink from freezer."], "length": 1532, "action_config": [{"start_frame": 18, "end_frame": 482, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 482, "end_frame": 973, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 973, "end_frame": 1145, "action_text": "rotate the waist to the right and tilt it downward", "skill": "Rotate", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 1145, "end_frame": 1262, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot has retrieved the yuzu oolong tea from the refrigerated cabinet and adjusted its orientation by rotating the waist to the right and tilting downward."}, {"start_frame": 1262, "end_frame": 1508, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot retrieved the yuzu oolong tea from the refrigerated cabinet and placed it into the shopping cart."}], "detailed_task_instruction": ["Retrieve the yuzu oolong tea from the refrigerated cabinet by picking it up, rotating your waist to the right while tilting downward, and then placing the drink into the shopping cart."]}
{"task_id": "take_drink_to_cart", "episode_index": 47, "video_path": "take_drink_to_cart/videos/chunk-000/{video_key}/episode_000047.mp4", "tasks": ["Retrieve drink from freezer."], "length": 1350, "action_config": [{"start_frame": 34, "end_frame": 504, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 504, "end_frame": 1023, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 1023, "end_frame": 1164, "action_text": "rotate the waist to the right and tilt it downward", "skill": "Rotate", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 1164, "end_frame": 1215, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot has retrieved the yuzu oolong tea from the refrigerated cabinet and adjusted its orientation by rotating the waist to the right and tilting downward."}, {"start_frame": 1215, "end_frame": 1335, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot retrieved the yuzu oolong tea from the refrigerated cabinet and placed it into the shopping cart."}], "detailed_task_instruction": ["Retrieve the yuzu oolong tea from the refrigerated cabinet by picking it up, rotating your waist to the right while tilting downward, and then placing the drink into the shopping cart."]}
{"task_id": "take_drink_to_cart", "episode_index": 48, "video_path": "take_drink_to_cart/videos/chunk-000/{video_key}/episode_000048.mp4", "tasks": ["Retrieve drink from freezer."], "length": 1243, "action_config": [{"start_frame": 11, "end_frame": 393, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 393, "end_frame": 727, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 727, "end_frame": 846, "action_text": "rotate the waist to the right and tilt it downward", "skill": "Rotate", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 846, "end_frame": 1077, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot has retrieved the yuzu oolong tea from the refrigerated cabinet and adjusted its orientation by rotating the waist to the right and tilting downward."}, {"start_frame": 1077, "end_frame": 1243, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot retrieved the yuzu oolong tea from the refrigerated cabinet and placed it into the shopping cart."}], "detailed_task_instruction": ["Retrieve the yuzu oolong tea from the refrigerated cabinet by picking it up, rotating your waist to the right while tilting downward, and then placing the drink into the shopping cart."]}
{"task_id": "take_drink_to_cart", "episode_index": 49, "video_path": "take_drink_to_cart/videos/chunk-000/{video_key}/episode_000049.mp4", "tasks": ["Retrieve drink from freezer."], "length": 1115, "action_config": [{"start_frame": 17, "end_frame": 392, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 392, "end_frame": 774, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 774, "end_frame": 903, "action_text": "rotate the waist to the right and tilt it downward", "skill": "Rotate", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 903, "end_frame": 977, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot has retrieved the yuzu oolong tea from the refrigerated cabinet and adjusted its orientation by rotating the waist to the right and tilting downward."}, {"start_frame": 977, "end_frame": 1098, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot retrieved the yuzu oolong tea from the refrigerated cabinet and placed it into the shopping cart."}], "detailed_task_instruction": ["Retrieve the yuzu oolong tea from the refrigerated cabinet by picking it up, rotating your waist to the right while tilting downward, and then placing the drink into the shopping cart."]}
{"task_id": "take_drink_to_cart", "episode_index": 50, "video_path": "take_drink_to_cart/videos/chunk-000/{video_key}/episode_000050.mp4", "tasks": ["Retrieve drink from freezer."], "length": 1468, "action_config": [{"start_frame": 23, "end_frame": 462, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 462, "end_frame": 972, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 972, "end_frame": 1122, "action_text": "rotate the waist to the right and tilt it downward", "skill": "Rotate", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 1122, "end_frame": 1236, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot has retrieved the yuzu oolong tea from the refrigerated cabinet and adjusted its orientation by rotating the waist to the right and tilting downward."}, {"start_frame": 1236, "end_frame": 1448, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot retrieved the yuzu oolong tea from the refrigerated cabinet and placed it into the shopping cart."}], "detailed_task_instruction": ["Retrieve the yuzu oolong tea from the refrigerated cabinet by picking it up, rotating your waist to the right while tilting downward, and then placing the drink into the shopping cart."]}
{"task_id": "take_drink_to_cart", "episode_index": 51, "video_path": "take_drink_to_cart/videos/chunk-000/{video_key}/episode_000051.mp4", "tasks": ["Retrieve drink from freezer."], "length": 1214, "action_config": [{"start_frame": 17, "end_frame": 373, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 373, "end_frame": 778, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 778, "end_frame": 936, "action_text": "rotate the waist to the right and tilt it downward", "skill": "Rotate", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 936, "end_frame": 1014, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot has retrieved the yuzu oolong tea from the refrigerated cabinet and adjusted its orientation by rotating the waist to the right and tilting downward."}, {"start_frame": 1014, "end_frame": 1182, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot retrieved the yuzu oolong tea from the refrigerated cabinet and placed it into the shopping cart."}], "detailed_task_instruction": ["Retrieve the yuzu oolong tea from the refrigerated cabinet by picking it up, rotating your waist to the right while tilting downward, and then placing the drink into the shopping cart."]}
{"task_id": "take_drink_to_cart", "episode_index": 52, "video_path": "take_drink_to_cart/videos/chunk-000/{video_key}/episode_000052.mp4", "tasks": ["Retrieve drink from freezer."], "length": 1383, "action_config": [{"start_frame": 35, "end_frame": 464, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 464, "end_frame": 924, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 924, "end_frame": 1080, "action_text": "rotate the waist to the right and tilt it downward", "skill": "Rotate", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 1080, "end_frame": 1185, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot has retrieved the yuzu oolong tea from the refrigerated cabinet and adjusted its orientation by rotating the waist to the right and tilting downward."}, {"start_frame": 1185, "end_frame": 1359, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot retrieved the yuzu oolong tea from the refrigerated cabinet and placed it into the shopping cart."}], "detailed_task_instruction": ["Retrieve the yuzu oolong tea from the refrigerated cabinet by picking it up, rotating your waist to the right while tilting downward, and then placing the drink into the shopping cart."]}
{"task_id": "take_drink_to_cart", "episode_index": 53, "video_path": "take_drink_to_cart/videos/chunk-000/{video_key}/episode_000053.mp4", "tasks": ["Retrieve drink from freezer."], "length": 1396, "action_config": [{"start_frame": 21, "end_frame": 459, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 459, "end_frame": 936, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 936, "end_frame": 1095, "action_text": "rotate the waist to the right and tilt it downward", "skill": "Rotate", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 1095, "end_frame": 1170, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot has retrieved the yuzu oolong tea from the refrigerated cabinet and adjusted its orientation by rotating the waist to the right and tilting downward."}, {"start_frame": 1170, "end_frame": 1370, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot retrieved the yuzu oolong tea from the refrigerated cabinet and placed it into the shopping cart."}], "detailed_task_instruction": ["Retrieve the yuzu oolong tea from the refrigerated cabinet by picking it up, rotating your waist to the right while tilting downward, and then placing the drink into the shopping cart."]}
{"task_id": "take_drink_to_cart", "episode_index": 54, "video_path": "take_drink_to_cart/videos/chunk-000/{video_key}/episode_000054.mp4", "tasks": ["Retrieve drink from freezer."], "length": 1457, "action_config": [{"start_frame": 12, "end_frame": 480, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 480, "end_frame": 995, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 995, "end_frame": 1157, "action_text": "rotate the waist to the right and tilt it downward", "skill": "Rotate", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 1157, "end_frame": 1269, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot has retrieved the yuzu oolong tea from the refrigerated cabinet and adjusted its orientation by rotating the waist to the right and tilting downward."}, {"start_frame": 1269, "end_frame": 1457, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot retrieved the yuzu oolong tea from the refrigerated cabinet and placed it into the shopping cart."}], "detailed_task_instruction": ["Retrieve the yuzu oolong tea from the refrigerated cabinet by picking it up, rotating your waist to the right while tilting downward, and then placing the drink into the shopping cart."]}
{"task_id": "take_drink_to_cart", "episode_index": 55, "video_path": "take_drink_to_cart/videos/chunk-000/{video_key}/episode_000055.mp4", "tasks": ["Retrieve drink from freezer."], "length": 1414, "action_config": [{"start_frame": 0, "end_frame": 346, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 346, "end_frame": 932, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 932, "end_frame": 1089, "action_text": "rotate the waist to the right and tilt it downward", "skill": "Rotate", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 1089, "end_frame": 1208, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot has retrieved the yuzu oolong tea from the refrigerated cabinet and adjusted its orientation by rotating the waist to the right and tilting downward."}, {"start_frame": 1208, "end_frame": 1400, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot retrieved the yuzu oolong tea from the refrigerated cabinet and placed it into the shopping cart."}], "detailed_task_instruction": ["Retrieve the yuzu oolong tea from the refrigerated cabinet by picking it up, rotating your waist to the right while tilting downward, and then placing the drink into the shopping cart."]}
{"task_id": "take_drink_to_cart", "episode_index": 56, "video_path": "take_drink_to_cart/videos/chunk-000/{video_key}/episode_000056.mp4", "tasks": ["Retrieve drink from freezer."], "length": 1467, "action_config": [{"start_frame": 0, "end_frame": 497, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 497, "end_frame": 1061, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 1061, "end_frame": 1209, "action_text": "rotate the waist to the right and tilt it downward", "skill": "Rotate", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 1209, "end_frame": 1302, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot has retrieved the yuzu oolong tea from the refrigerated cabinet and adjusted its orientation by rotating the waist to the right and tilting downward."}, {"start_frame": 1302, "end_frame": 1445, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot retrieved the yuzu oolong tea from the refrigerated cabinet and placed it into the shopping cart."}], "detailed_task_instruction": ["Retrieve the yuzu oolong tea from the refrigerated cabinet by picking it up, rotating your waist to the right while tilting downward, and then placing the drink into the shopping cart."]}
{"task_id": "take_drink_to_cart", "episode_index": 57, "video_path": "take_drink_to_cart/videos/chunk-000/{video_key}/episode_000057.mp4", "tasks": ["Retrieve drink from freezer."], "length": 1242, "action_config": [{"start_frame": 21, "end_frame": 409, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 409, "end_frame": 820, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 820, "end_frame": 953, "action_text": "rotate the waist to the right and tilt it downward", "skill": "Rotate", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 953, "end_frame": 1025, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot has retrieved the yuzu oolong tea from the refrigerated cabinet and adjusted its orientation by rotating the waist to the right and tilting downward."}, {"start_frame": 1025, "end_frame": 1227, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot retrieved the yuzu oolong tea from the refrigerated cabinet and placed it into the shopping cart."}], "detailed_task_instruction": ["Retrieve the yuzu oolong tea from the refrigerated cabinet by picking it up, rotating your waist to the right while tilting downward, and then placing the drink into the shopping cart."]}
{"task_id": "take_drink_to_cart", "episode_index": 58, "video_path": "take_drink_to_cart/videos/chunk-000/{video_key}/episode_000058.mp4", "tasks": ["Retrieve drink from freezer."], "length": 1271, "action_config": [{"start_frame": 24, "end_frame": 366, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 366, "end_frame": 768, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 768, "end_frame": 918, "action_text": "rotate the waist to the right and tilt it downward", "skill": "Rotate", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 918, "end_frame": 1059, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot has retrieved the yuzu oolong tea from the refrigerated cabinet and adjusted its orientation by rotating the waist to the right and tilting downward."}, {"start_frame": 1059, "end_frame": 1250, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot retrieved the yuzu oolong tea from the refrigerated cabinet and placed it into the shopping cart."}], "detailed_task_instruction": ["Retrieve the yuzu oolong tea from the refrigerated cabinet by picking it up, rotating your waist to the right while tilting downward, and then placing the drink into the shopping cart."]}
{"task_id": "take_drink_to_cart", "episode_index": 59, "video_path": "take_drink_to_cart/videos/chunk-000/{video_key}/episode_000059.mp4", "tasks": ["Retrieve drink from freezer."], "length": 1256, "action_config": [{"start_frame": 21, "end_frame": 330, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 330, "end_frame": 831, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 831, "end_frame": 972, "action_text": "rotate the waist to the right and tilt it downward", "skill": "Rotate", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 972, "end_frame": 1096, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot has retrieved the yuzu oolong tea from the refrigerated cabinet and adjusted its orientation by rotating the waist to the right and tilting downward."}, {"start_frame": 1096, "end_frame": 1256, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot retrieved the yuzu oolong tea from the refrigerated cabinet and placed it into the shopping cart."}], "detailed_task_instruction": ["Retrieve the yuzu oolong tea from the refrigerated cabinet by picking it up, rotating your waist to the right while tilting downward, and then placing the drink into the shopping cart."]}
{"task_id": "take_drink_to_cart", "episode_index": 60, "video_path": "take_drink_to_cart/videos/chunk-000/{video_key}/episode_000060.mp4", "tasks": ["Retrieve drink from freezer."], "length": 1714, "action_config": [{"start_frame": 27, "end_frame": 677, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 677, "end_frame": 1266, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 1266, "end_frame": 1400, "action_text": "rotate the waist to the right and tilt it downward", "skill": "Rotate", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 1400, "end_frame": 1494, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot has retrieved the yuzu oolong tea from the refrigerated cabinet and adjusted its orientation by rotating the waist to the right and tilting downward."}, {"start_frame": 1494, "end_frame": 1682, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot retrieved the yuzu oolong tea from the refrigerated cabinet and placed it into the shopping cart."}], "detailed_task_instruction": ["Retrieve the yuzu oolong tea from the refrigerated cabinet by picking it up, rotating your waist to the right while tilting downward, and then placing the drink into the shopping cart."]}
{"task_id": "take_drink_to_cart", "episode_index": 61, "video_path": "take_drink_to_cart/videos/chunk-000/{video_key}/episode_000061.mp4", "tasks": ["Retrieve drink from freezer."], "length": 1507, "action_config": [{"start_frame": 16, "end_frame": 583, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 583, "end_frame": 1068, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 1068, "end_frame": 1217, "action_text": "rotate the waist to the right and tilt it downward", "skill": "Rotate", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 1217, "end_frame": 1323, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot has retrieved the yuzu oolong tea from the refrigerated cabinet and adjusted its orientation by rotating the waist to the right and tilting downward."}, {"start_frame": 1323, "end_frame": 1507, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot retrieved the yuzu oolong tea from the refrigerated cabinet and placed it into the shopping cart."}], "detailed_task_instruction": ["Retrieve the yuzu oolong tea from the refrigerated cabinet by picking it up, rotating your waist to the right while tilting downward, and then placing the drink into the shopping cart."]}
{"task_id": "take_drink_to_cart", "episode_index": 62, "video_path": "take_drink_to_cart/videos/chunk-000/{video_key}/episode_000062.mp4", "tasks": ["Retrieve drink from freezer."], "length": 1245, "action_config": [{"start_frame": 35, "end_frame": 347, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 347, "end_frame": 831, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 831, "end_frame": 981, "action_text": "rotate the waist to the right and tilt it downward", "skill": "Rotate", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 981, "end_frame": 1061, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot has retrieved the yuzu oolong tea from the refrigerated cabinet and adjusted its orientation by rotating the waist to the right and tilting downward."}, {"start_frame": 1061, "end_frame": 1223, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot retrieved the yuzu oolong tea from the refrigerated cabinet and placed it into the shopping cart."}], "detailed_task_instruction": ["Retrieve the yuzu oolong tea from the refrigerated cabinet by picking it up, rotating your waist to the right while tilting downward, and then placing the drink into the shopping cart."]}
{"task_id": "take_drink_to_cart", "episode_index": 63, "video_path": "take_drink_to_cart/videos/chunk-000/{video_key}/episode_000063.mp4", "tasks": ["Retrieve drink from freezer."], "length": 1410, "action_config": [{"start_frame": 20, "end_frame": 414, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 414, "end_frame": 861, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 861, "end_frame": 1017, "action_text": "rotate the waist to the right and tilt it downward", "skill": "Rotate", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 1017, "end_frame": 1143, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot has retrieved the yuzu oolong tea from the refrigerated cabinet and adjusted its orientation by rotating the waist to the right and tilting downward."}, {"start_frame": 1143, "end_frame": 1383, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot retrieved the yuzu oolong tea from the refrigerated cabinet and placed it into the shopping cart."}], "detailed_task_instruction": ["Retrieve the yuzu oolong tea from the refrigerated cabinet by picking it up, rotating your waist to the right while tilting downward, and then placing the drink into the shopping cart."]}
{"task_id": "take_drink_to_cart", "episode_index": 64, "video_path": "take_drink_to_cart/videos/chunk-000/{video_key}/episode_000064.mp4", "tasks": ["Retrieve drink from freezer."], "length": 1384, "action_config": [{"start_frame": 55, "end_frame": 486, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 486, "end_frame": 888, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 888, "end_frame": 1068, "action_text": "rotate the waist to the right and tilt it downward", "skill": "Rotate", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 1068, "end_frame": 1149, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot has retrieved the yuzu oolong tea from the refrigerated cabinet and adjusted its orientation by rotating the waist to the right and tilting downward."}, {"start_frame": 1149, "end_frame": 1356, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot retrieved the yuzu oolong tea from the refrigerated cabinet and placed it into the shopping cart."}], "detailed_task_instruction": ["Retrieve the yuzu oolong tea from the refrigerated cabinet by picking it up, rotating your waist to the right while tilting downward, and then placing the drink into the shopping cart."]}
{"task_id": "take_drink_to_cart", "episode_index": 65, "video_path": "take_drink_to_cart/videos/chunk-000/{video_key}/episode_000065.mp4", "tasks": ["Retrieve drink from freezer."], "length": 1513, "action_config": [{"start_frame": 15, "end_frame": 609, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 609, "end_frame": 1077, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 1077, "end_frame": 1248, "action_text": "rotate the waist to the right and tilt it downward", "skill": "Rotate", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 1248, "end_frame": 1337, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot has retrieved the yuzu oolong tea from the refrigerated cabinet and adjusted its orientation by rotating the waist to the right and tilting downward."}, {"start_frame": 1337, "end_frame": 1494, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot retrieved the yuzu oolong tea from the refrigerated cabinet and placed it into the shopping cart."}], "detailed_task_instruction": ["Retrieve the yuzu oolong tea from the refrigerated cabinet by picking it up, rotating your waist to the right while tilting downward, and then placing the drink into the shopping cart."]}
{"task_id": "take_drink_to_cart", "episode_index": 66, "video_path": "take_drink_to_cart/videos/chunk-000/{video_key}/episode_000066.mp4", "tasks": ["Retrieve drink from freezer."], "length": 1138, "action_config": [{"start_frame": 27, "end_frame": 290, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 290, "end_frame": 693, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 693, "end_frame": 828, "action_text": "rotate the waist to the right and tilt it downward", "skill": "Rotate", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 828, "end_frame": 956, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot has retrieved the yuzu oolong tea from the refrigerated cabinet and adjusted its orientation by rotating the waist to the right and tilting downward."}, {"start_frame": 956, "end_frame": 1106, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot retrieved the yuzu oolong tea from the refrigerated cabinet and placed it into the shopping cart."}], "detailed_task_instruction": ["Retrieve the yuzu oolong tea from the refrigerated cabinet by picking it up, rotating your waist to the right while tilting downward, and then placing the drink into the shopping cart."]}
{"task_id": "take_drink_to_cart", "episode_index": 67, "video_path": "take_drink_to_cart/videos/chunk-000/{video_key}/episode_000067.mp4", "tasks": ["Retrieve drink from freezer."], "length": 1067, "action_config": [{"start_frame": 16, "end_frame": 297, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 297, "end_frame": 663, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 663, "end_frame": 794, "action_text": "rotate the waist to the right and tilt it downward", "skill": "Rotate", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 794, "end_frame": 879, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot has retrieved the yuzu oolong tea from the refrigerated cabinet and adjusted its orientation by rotating the waist to the right and tilting downward."}, {"start_frame": 879, "end_frame": 1067, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot retrieved the yuzu oolong tea from the refrigerated cabinet and placed it into the shopping cart."}], "detailed_task_instruction": ["Retrieve the yuzu oolong tea from the refrigerated cabinet by picking it up, rotating your waist to the right while tilting downward, and then placing the drink into the shopping cart."]}
{"task_id": "take_drink_to_cart", "episode_index": 68, "video_path": "take_drink_to_cart/videos/chunk-000/{video_key}/episode_000068.mp4", "tasks": ["Retrieve drink from freezer."], "length": 1190, "action_config": [{"start_frame": 25, "end_frame": 270, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 270, "end_frame": 714, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 714, "end_frame": 903, "action_text": "rotate the waist to the right and tilt it downward", "skill": "Rotate", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 903, "end_frame": 978, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot has retrieved the yuzu oolong tea from the refrigerated cabinet and adjusted its orientation by rotating the waist to the right and tilting downward."}, {"start_frame": 978, "end_frame": 1142, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot retrieved the yuzu oolong tea from the refrigerated cabinet and placed it into the shopping cart."}], "detailed_task_instruction": ["Retrieve the yuzu oolong tea from the refrigerated cabinet by picking it up, rotating your waist to the right while tilting downward, and then placing the drink into the shopping cart."]}
{"task_id": "take_drink_to_cart", "episode_index": 69, "video_path": "take_drink_to_cart/videos/chunk-000/{video_key}/episode_000069.mp4", "tasks": ["Retrieve drink from freezer."], "length": 1142, "action_config": [{"start_frame": 24, "end_frame": 309, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 309, "end_frame": 660, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 660, "end_frame": 825, "action_text": "rotate the waist to the right and tilt it downward", "skill": "Rotate", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 825, "end_frame": 906, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot has retrieved the yuzu oolong tea from the refrigerated cabinet and adjusted its orientation by rotating the waist to the right and tilting downward."}, {"start_frame": 906, "end_frame": 1092, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot retrieved the yuzu oolong tea from the refrigerated cabinet and placed it into the shopping cart."}], "detailed_task_instruction": ["Retrieve the yuzu oolong tea from the refrigerated cabinet by picking it up, rotating your waist to the right while tilting downward, and then placing the drink into the shopping cart."]}
{"task_id": "take_drink_to_cart", "episode_index": 70, "video_path": "take_drink_to_cart/videos/chunk-000/{video_key}/episode_000070.mp4", "tasks": ["Retrieve drink from freezer."], "length": 1433, "action_config": [{"start_frame": 23, "end_frame": 380, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 380, "end_frame": 954, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 954, "end_frame": 1101, "action_text": "rotate the waist to the right and tilt it downward", "skill": "Rotate", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 1101, "end_frame": 1167, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot has retrieved the yuzu oolong tea from the refrigerated cabinet and adjusted its orientation by rotating the waist to the right and tilting downward."}, {"start_frame": 1167, "end_frame": 1377, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot retrieved the yuzu oolong tea from the refrigerated cabinet and placed it into the shopping cart."}], "detailed_task_instruction": ["Retrieve the yuzu oolong tea from the refrigerated cabinet by picking it up, rotating your waist to the right while tilting downward, and then placing the drink into the shopping cart."]}
{"task_id": "take_drink_to_cart", "episode_index": 71, "video_path": "take_drink_to_cart/videos/chunk-000/{video_key}/episode_000071.mp4", "tasks": ["Retrieve drink from freezer."], "length": 1454, "action_config": [{"start_frame": 17, "end_frame": 452, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 452, "end_frame": 994, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 994, "end_frame": 1142, "action_text": "rotate the waist to the right and tilt it downward", "skill": "Rotate", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 1142, "end_frame": 1274, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot has retrieved the yuzu oolong tea from the refrigerated cabinet and adjusted its orientation by rotating the waist to the right and tilting downward."}, {"start_frame": 1274, "end_frame": 1454, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot retrieved the yuzu oolong tea from the refrigerated cabinet and placed it into the shopping cart."}], "detailed_task_instruction": ["Retrieve the yuzu oolong tea from the refrigerated cabinet by picking it up, rotating your waist to the right while tilting downward, and then placing the drink into the shopping cart."]}
{"task_id": "take_drink_to_cart", "episode_index": 72, "video_path": "take_drink_to_cart/videos/chunk-000/{video_key}/episode_000072.mp4", "tasks": ["Retrieve drink from freezer."], "length": 1940, "action_config": [{"start_frame": 38, "end_frame": 711, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 711, "end_frame": 1227, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 1227, "end_frame": 1361, "action_text": "rotate the waist to the right and tilt it downward", "skill": "Rotate", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 1361, "end_frame": 1452, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot has retrieved the yuzu oolong tea from the refrigerated cabinet and adjusted its orientation by rotating the waist to the right and tilting downward."}, {"start_frame": 1452, "end_frame": 1866, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot retrieved the yuzu oolong tea from the refrigerated cabinet and placed it into the shopping cart."}, {"start_frame": 1866, "end_frame": 1911, "action_text": "rotate the waist to the left and tilt it upward", "skill": "Rotate", "language_memory": "The robot successfully retrieved the yuzu oolong tea from the refrigerated cabinet and placed it into the shopping cart."}], "detailed_task_instruction": ["Retrieve the yuzu oolong tea from the refrigerated cabinet by picking it up, rotating your waist to the right and tilting downward, then placing the drink into the shopping cart."]}
{"task_id": "take_drink_to_cart", "episode_index": 73, "video_path": "take_drink_to_cart/videos/chunk-000/{video_key}/episode_000073.mp4", "tasks": ["Retrieve drink from freezer."], "length": 1311, "action_config": [{"start_frame": 22, "end_frame": 342, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 342, "end_frame": 678, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 678, "end_frame": 819, "action_text": "rotate the waist to the right and tilt it downward", "skill": "Rotate", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 819, "end_frame": 895, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot has retrieved the yuzu oolong tea from the refrigerated cabinet and adjusted its orientation by rotating the waist to the right and tilting downward."}, {"start_frame": 895, "end_frame": 1231, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot retrieved the yuzu oolong tea from the refrigerated cabinet and placed it into the shopping cart."}, {"start_frame": 1231, "end_frame": 1275, "action_text": "rotate the waist to the left and tilt it upward", "skill": "Rotate", "language_memory": "The robot successfully retrieved the yuzu oolong tea from the refrigerated cabinet and placed it into the shopping cart."}], "detailed_task_instruction": ["Retrieve the yuzu oolong tea from the refrigerated cabinet by picking it up, rotating your waist to the right and tilting downward, then placing the drink into the shopping cart."]}
{"task_id": "take_drink_to_cart", "episode_index": 74, "video_path": "take_drink_to_cart/videos/chunk-000/{video_key}/episode_000074.mp4", "tasks": ["Retrieve drink from freezer."], "length": 1059, "action_config": [{"start_frame": 10, "end_frame": 285, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 285, "end_frame": 595, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 595, "end_frame": 753, "action_text": "rotate the waist to the right and tilt it downward", "skill": "Rotate", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 753, "end_frame": 821, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot has retrieved the yuzu oolong tea from the refrigerated cabinet and adjusted its orientation by rotating the waist to the right and tilting downward."}, {"start_frame": 821, "end_frame": 996, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot retrieved the yuzu oolong tea from the refrigerated cabinet and placed it into the shopping cart."}, {"start_frame": 996, "end_frame": 1037, "action_text": "rotate the waist to the left and tilt it upward", "skill": "Rotate", "language_memory": "The robot successfully retrieved the yuzu oolong tea from the refrigerated cabinet and placed it into the shopping cart."}], "detailed_task_instruction": ["Retrieve the yuzu oolong tea from the refrigerated cabinet by picking it up, rotating your waist to the right and tilting downward, then placing the drink into the shopping cart."]}
{"task_id": "take_drink_to_cart", "episode_index": 75, "video_path": "take_drink_to_cart/videos/chunk-000/{video_key}/episode_000075.mp4", "tasks": ["Retrieve drink from freezer."], "length": 1151, "action_config": [{"start_frame": 24, "end_frame": 331, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 331, "end_frame": 669, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 669, "end_frame": 819, "action_text": "rotate the waist to the right and tilt it downward", "skill": "Rotate", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 819, "end_frame": 872, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot has retrieved the yuzu oolong tea from the refrigerated cabinet and adjusted its orientation by rotating the waist to the right and tilting downward."}, {"start_frame": 872, "end_frame": 1092, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot retrieved the yuzu oolong tea from the refrigerated cabinet and placed it into the shopping cart."}, {"start_frame": 1092, "end_frame": 1136, "action_text": "rotate the waist to the left and tilt it upward", "skill": "Rotate", "language_memory": "The robot successfully retrieved the yuzu oolong tea from the refrigerated cabinet and placed it into the shopping cart."}], "detailed_task_instruction": ["Retrieve the yuzu oolong tea from the refrigerated cabinet by picking it up, rotating your waist to the right and tilting downward, then placing the drink into the shopping cart."]}
{"task_id": "take_drink_to_cart", "episode_index": 76, "video_path": "take_drink_to_cart/videos/chunk-000/{video_key}/episode_000076.mp4", "tasks": ["Retrieve drink from freezer."], "length": 1623, "action_config": [{"start_frame": 18, "end_frame": 675, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 675, "end_frame": 1011, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 1011, "end_frame": 1206, "action_text": "rotate the waist to the right and tilt it downward", "skill": "Rotate", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 1206, "end_frame": 1272, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot has retrieved the yuzu oolong tea from the refrigerated cabinet and adjusted its orientation by rotating the waist to the right and tilting downward."}, {"start_frame": 1272, "end_frame": 1556, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot retrieved the yuzu oolong tea from the refrigerated cabinet and placed it into the shopping cart."}, {"start_frame": 1556, "end_frame": 1598, "action_text": "rotate the waist to the left and tilt it upward", "skill": "Rotate", "language_memory": "The robot successfully retrieved the yuzu oolong tea from the refrigerated cabinet and placed it into the shopping cart."}], "detailed_task_instruction": ["Retrieve the yuzu oolong tea from the refrigerated cabinet by picking it up, rotating your waist to the right and tilting downward, then placing the drink into the shopping cart."]}
{"task_id": "take_drink_to_cart", "episode_index": 77, "video_path": "take_drink_to_cart/videos/chunk-000/{video_key}/episode_000077.mp4", "tasks": ["Retrieve drink from freezer."], "length": 1486, "action_config": [{"start_frame": 42, "end_frame": 462, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 462, "end_frame": 847, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 847, "end_frame": 1044, "action_text": "rotate the waist to the right and tilt it downward", "skill": "Rotate", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 1044, "end_frame": 1140, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot has retrieved the yuzu oolong tea from the refrigerated cabinet and adjusted its orientation by rotating the waist to the right and tilting downward."}, {"start_frame": 1140, "end_frame": 1418, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot retrieved the yuzu oolong tea from the refrigerated cabinet and placed it into the shopping cart."}, {"start_frame": 1418, "end_frame": 1463, "action_text": "rotate the waist to the left and tilt it upward", "skill": "Rotate", "language_memory": "The robot successfully retrieved the yuzu oolong tea from the refrigerated cabinet and placed it into the shopping cart."}], "detailed_task_instruction": ["Retrieve the yuzu oolong tea from the refrigerated cabinet by picking it up, rotating your waist to the right and tilting downward, then placing the drink into the shopping cart."]}
{"task_id": "take_drink_to_cart", "episode_index": 78, "video_path": "take_drink_to_cart/videos/chunk-000/{video_key}/episode_000078.mp4", "tasks": ["Retrieve drink from freezer."], "length": 1719, "action_config": [{"start_frame": 48, "end_frame": 493, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 493, "end_frame": 957, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 957, "end_frame": 1188, "action_text": "rotate the waist to the right and tilt it downward", "skill": "Rotate", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 1188, "end_frame": 1250, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot has retrieved the yuzu oolong tea from the refrigerated cabinet and adjusted its orientation by rotating the waist to the right and tilting downward."}, {"start_frame": 1250, "end_frame": 1638, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot retrieved the yuzu oolong tea from the refrigerated cabinet and placed it into the shopping cart."}, {"start_frame": 1638, "end_frame": 1683, "action_text": "rotate the waist to the left and tilt it upward", "skill": "Rotate", "language_memory": "The robot successfully retrieved the yuzu oolong tea from the refrigerated cabinet and placed it into the shopping cart."}], "detailed_task_instruction": ["Retrieve the yuzu oolong tea from the refrigerated cabinet by picking it up, rotating your waist to the right and tilting downward, then placing the drink into the shopping cart."]}
{"task_id": "take_drink_to_cart", "episode_index": 79, "video_path": "take_drink_to_cart/videos/chunk-000/{video_key}/episode_000079.mp4", "tasks": ["Retrieve drink from freezer."], "length": 1281, "action_config": [{"start_frame": 20, "end_frame": 480, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 480, "end_frame": 836, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 836, "end_frame": 990, "action_text": "rotate the waist to the right and tilt it downward", "skill": "Rotate", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 990, "end_frame": 1042, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot has retrieved the yuzu oolong tea from the refrigerated cabinet and adjusted its orientation by rotating the waist to the right and tilting downward."}, {"start_frame": 1042, "end_frame": 1212, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot retrieved the yuzu oolong tea from the refrigerated cabinet and placed it into the shopping cart."}, {"start_frame": 1212, "end_frame": 1264, "action_text": "rotate the waist to the left and tilt it upward", "skill": "Rotate", "language_memory": "The robot successfully retrieved the yuzu oolong tea from the refrigerated cabinet and placed it into the shopping cart."}], "detailed_task_instruction": ["Retrieve the yuzu oolong tea from the refrigerated cabinet by picking it up, rotating your waist to the right and tilting downward, then placing the drink into the shopping cart."]}
{"task_id": "take_drink_to_cart", "episode_index": 80, "video_path": "take_drink_to_cart/videos/chunk-000/{video_key}/episode_000080.mp4", "tasks": ["Retrieve drink from freezer."], "length": 1650, "action_config": [{"start_frame": 24, "end_frame": 583, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 583, "end_frame": 1054, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 1054, "end_frame": 1209, "action_text": "rotate the waist to the right and tilt it downward", "skill": "Rotate", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 1209, "end_frame": 1272, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot has retrieved the yuzu oolong tea from the refrigerated cabinet and adjusted its orientation by rotating the waist to the right and tilting downward."}, {"start_frame": 1272, "end_frame": 1563, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot retrieved the yuzu oolong tea from the refrigerated cabinet and placed it into the shopping cart."}, {"start_frame": 1563, "end_frame": 1622, "action_text": "rotate the waist to the left and tilt it upward", "skill": "Rotate", "language_memory": "The robot successfully retrieved the yuzu oolong tea from the refrigerated cabinet and placed it into the shopping cart."}], "detailed_task_instruction": ["Retrieve the yuzu oolong tea from the refrigerated cabinet by picking it up, rotating your waist to the right and tilting downward, then placing the drink into the shopping cart."]}
{"task_id": "take_drink_to_cart", "episode_index": 81, "video_path": "take_drink_to_cart/videos/chunk-000/{video_key}/episode_000081.mp4", "tasks": ["Retrieve drink from freezer."], "length": 1928, "action_config": [{"start_frame": 42, "end_frame": 606, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 606, "end_frame": 1245, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 1245, "end_frame": 1449, "action_text": "rotate the waist to the right and tilt it downward", "skill": "Rotate", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 1449, "end_frame": 1548, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot has retrieved the yuzu oolong tea from the refrigerated cabinet and adjusted its orientation by rotating the waist to the right and tilting downward."}, {"start_frame": 1548, "end_frame": 1836, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot retrieved the yuzu oolong tea from the refrigerated cabinet and placed it into the shopping cart."}, {"start_frame": 1836, "end_frame": 1887, "action_text": "rotate the waist to the left and tilt it upward", "skill": "Rotate", "language_memory": "The robot successfully retrieved the yuzu oolong tea from the refrigerated cabinet and placed it into the shopping cart."}], "detailed_task_instruction": ["Retrieve the yuzu oolong tea from the refrigerated cabinet by picking it up, rotating your waist to the right and tilting downward, then placing the drink into the shopping cart."]}
{"task_id": "take_drink_to_cart", "episode_index": 82, "video_path": "take_drink_to_cart/videos/chunk-000/{video_key}/episode_000082.mp4", "tasks": ["Retrieve drink from freezer."], "length": 1559, "action_config": [{"start_frame": 30, "end_frame": 528, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 528, "end_frame": 989, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 989, "end_frame": 1149, "action_text": "rotate the waist to the right and tilt it downward", "skill": "Rotate", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 1149, "end_frame": 1244, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot has retrieved the yuzu oolong tea from the refrigerated cabinet and adjusted its orientation by rotating the waist to the right and tilting downward."}, {"start_frame": 1244, "end_frame": 1500, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot retrieved the yuzu oolong tea from the refrigerated cabinet and placed it into the shopping cart."}, {"start_frame": 1500, "end_frame": 1539, "action_text": "rotate the waist to the left and tilt it upward", "skill": "Rotate", "language_memory": "The robot successfully retrieved the yuzu oolong tea from the refrigerated cabinet and placed it into the shopping cart."}], "detailed_task_instruction": ["Retrieve the yuzu oolong tea from the refrigerated cabinet by picking it up, rotating your waist to the right and tilting downward, then placing the drink into the shopping cart."]}
{"task_id": "take_drink_to_cart", "episode_index": 83, "video_path": "take_drink_to_cart/videos/chunk-000/{video_key}/episode_000083.mp4", "tasks": ["Retrieve drink from freezer."], "length": 1234, "action_config": [{"start_frame": 27, "end_frame": 423, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 423, "end_frame": 741, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 741, "end_frame": 870, "action_text": "rotate the waist to the right and tilt it downward", "skill": "Rotate", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 870, "end_frame": 924, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot has retrieved the yuzu oolong tea from the refrigerated cabinet and adjusted its orientation by rotating the waist to the right and tilting downward."}, {"start_frame": 924, "end_frame": 1173, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot retrieved the yuzu oolong tea from the refrigerated cabinet and placed it into the shopping cart."}, {"start_frame": 1173, "end_frame": 1209, "action_text": "rotate the waist to the left and tilt it upward", "skill": "Rotate", "language_memory": "The robot successfully retrieved the yuzu oolong tea from the refrigerated cabinet and placed it into the shopping cart."}], "detailed_task_instruction": ["Retrieve the yuzu oolong tea from the refrigerated cabinet by picking it up, rotating your waist to the right and tilting downward, then placing the drink into the shopping cart."]}
{"task_id": "take_drink_to_cart", "episode_index": 84, "video_path": "take_drink_to_cart/videos/chunk-000/{video_key}/episode_000084.mp4", "tasks": ["Retrieve drink from freezer."], "length": 1203, "action_config": [{"start_frame": 27, "end_frame": 369, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 369, "end_frame": 705, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 705, "end_frame": 883, "action_text": "rotate the waist to the right and tilt it downward", "skill": "Rotate", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 883, "end_frame": 967, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot has retrieved the yuzu oolong tea from the refrigerated cabinet and adjusted its orientation by rotating the waist to the right and tilting downward."}, {"start_frame": 967, "end_frame": 1146, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot retrieved the yuzu oolong tea from the refrigerated cabinet and placed it into the shopping cart."}, {"start_frame": 1146, "end_frame": 1183, "action_text": "rotate the waist to the left and tilt it upward", "skill": "Rotate", "language_memory": "The robot successfully retrieved the yuzu oolong tea from the refrigerated cabinet and placed it into the shopping cart."}], "detailed_task_instruction": ["Retrieve the yuzu oolong tea from the refrigerated cabinet by picking it up, rotating your waist to the right and tilting downward, then placing the drink into the shopping cart."]}
{"task_id": "take_drink_to_cart", "episode_index": 85, "video_path": "take_drink_to_cart/videos/chunk-000/{video_key}/episode_000085.mp4", "tasks": ["Retrieve drink from freezer."], "length": 1814, "action_config": [{"start_frame": 25, "end_frame": 630, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 630, "end_frame": 1197, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 1197, "end_frame": 1404, "action_text": "rotate the waist to the right and tilt it downward", "skill": "Rotate", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 1404, "end_frame": 1524, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot has retrieved the yuzu oolong tea from the refrigerated cabinet and adjusted its orientation by rotating the waist to the right and tilting downward."}, {"start_frame": 1524, "end_frame": 1736, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot retrieved the yuzu oolong tea from the refrigerated cabinet and placed it into the shopping cart."}, {"start_frame": 1736, "end_frame": 1779, "action_text": "rotate the waist to the left and tilt it upward", "skill": "Rotate", "language_memory": "The robot successfully retrieved the yuzu oolong tea from the refrigerated cabinet and placed it into the shopping cart."}], "detailed_task_instruction": ["Retrieve the yuzu oolong tea from the refrigerated cabinet by picking it up, rotating your waist to the right and tilting downward, then placing the drink into the shopping cart."]}
{"task_id": "take_drink_to_cart", "episode_index": 86, "video_path": "take_drink_to_cart/videos/chunk-000/{video_key}/episode_000086.mp4", "tasks": ["Retrieve drink from freezer."], "length": 1224, "action_config": [{"start_frame": 14, "end_frame": 335, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 335, "end_frame": 649, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 649, "end_frame": 779, "action_text": "rotate the waist to the right and tilt it downward", "skill": "Rotate", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 779, "end_frame": 946, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot has retrieved the yuzu oolong tea from the refrigerated cabinet and adjusted its orientation by rotating the waist to the right and tilting downward."}, {"start_frame": 946, "end_frame": 1130, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot retrieved the yuzu oolong tea from the refrigerated cabinet and placed it into the shopping cart."}, {"start_frame": 1130, "end_frame": 1175, "action_text": "rotate the waist to the left and tilt it upward", "skill": "Rotate", "language_memory": "The robot successfully retrieved the yuzu oolong tea from the refrigerated cabinet and placed it into the shopping cart."}], "detailed_task_instruction": ["Retrieve the yuzu oolong tea from the refrigerated cabinet by picking it up, rotating your waist to the right and tilting downward, then placing the drink into the shopping cart."]}
{"task_id": "take_drink_to_cart", "episode_index": 87, "video_path": "take_drink_to_cart/videos/chunk-000/{video_key}/episode_000087.mp4", "tasks": ["Retrieve drink from freezer."], "length": 1376, "action_config": [{"start_frame": 24, "end_frame": 521, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 521, "end_frame": 859, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 859, "end_frame": 1005, "action_text": "rotate the waist to the right and tilt it downward", "skill": "Rotate", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 1005, "end_frame": 1065, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot has retrieved the yuzu oolong tea from the refrigerated cabinet and adjusted its orientation by rotating the waist to the right and tilting downward."}, {"start_frame": 1065, "end_frame": 1298, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot retrieved the yuzu oolong tea from the refrigerated cabinet and placed it into the shopping cart."}, {"start_frame": 1298, "end_frame": 1340, "action_text": "rotate the waist to the left and tilt it upward", "skill": "Rotate", "language_memory": "The robot successfully retrieved the yuzu oolong tea from the refrigerated cabinet and placed it into the shopping cart."}], "detailed_task_instruction": ["Retrieve the yuzu oolong tea from the refrigerated cabinet by picking it up, rotating your waist to the right and tilting downward, then placing the drink into the shopping cart."]}
{"task_id": "take_drink_to_cart", "episode_index": 88, "video_path": "take_drink_to_cart/videos/chunk-000/{video_key}/episode_000088.mp4", "tasks": ["Retrieve drink from freezer."], "length": 1101, "action_config": [{"start_frame": 14, "end_frame": 290, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 290, "end_frame": 573, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 573, "end_frame": 702, "action_text": "rotate the waist to the right and tilt it downward", "skill": "Rotate", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 702, "end_frame": 767, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot has retrieved the yuzu oolong tea from the refrigerated cabinet and adjusted its orientation by rotating the waist to the right and tilting downward."}, {"start_frame": 767, "end_frame": 1047, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot retrieved the yuzu oolong tea from the refrigerated cabinet and placed it into the shopping cart."}, {"start_frame": 1047, "end_frame": 1080, "action_text": "rotate the waist to the left and tilt it upward", "skill": "Rotate", "language_memory": "The robot successfully retrieved the yuzu oolong tea from the refrigerated cabinet and placed it into the shopping cart."}], "detailed_task_instruction": ["Retrieve the yuzu oolong tea from the refrigerated cabinet by picking it up, rotating your waist to the right and tilting downward, then placing the drink into the shopping cart."]}
{"task_id": "take_drink_to_cart", "episode_index": 89, "video_path": "take_drink_to_cart/videos/chunk-000/{video_key}/episode_000089.mp4", "tasks": ["Retrieve drink from freezer."], "length": 1676, "action_config": [{"start_frame": 33, "end_frame": 461, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 461, "end_frame": 963, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 963, "end_frame": 1154, "action_text": "rotate the waist to the right and tilt it downward", "skill": "Rotate", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 1154, "end_frame": 1238, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot has retrieved the yuzu oolong tea from the refrigerated cabinet and adjusted its orientation by rotating the waist to the right and tilting downward."}, {"start_frame": 1238, "end_frame": 1589, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot retrieved the yuzu oolong tea from the refrigerated cabinet and placed it into the shopping cart."}, {"start_frame": 1589, "end_frame": 1638, "action_text": "rotate the waist to the left and tilt it upward", "skill": "Rotate", "language_memory": "The robot successfully retrieved the yuzu oolong tea from the refrigerated cabinet and placed it into the shopping cart."}], "detailed_task_instruction": ["Retrieve the yuzu oolong tea from the refrigerated cabinet by picking it up, rotating your waist to the right and tilting downward, then placing the drink into the shopping cart."]}
{"task_id": "take_drink_to_cart", "episode_index": 90, "video_path": "take_drink_to_cart/videos/chunk-000/{video_key}/episode_000090.mp4", "tasks": ["Retrieve drink from freezer."], "length": 1503, "action_config": [{"start_frame": 29, "end_frame": 438, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 438, "end_frame": 920, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 920, "end_frame": 1104, "action_text": "rotate the waist to the right and tilt it downward", "skill": "Rotate", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 1104, "end_frame": 1164, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot has retrieved the yuzu oolong tea from the refrigerated cabinet and adjusted its orientation by rotating the waist to the right and tilting downward."}, {"start_frame": 1164, "end_frame": 1435, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot retrieved the yuzu oolong tea from the refrigerated cabinet and placed it into the shopping cart."}, {"start_frame": 1435, "end_frame": 1473, "action_text": "rotate the waist to the left and tilt it upward", "skill": "Rotate", "language_memory": "The robot successfully retrieved the yuzu oolong tea from the refrigerated cabinet and placed it into the shopping cart."}], "detailed_task_instruction": ["Retrieve the yuzu oolong tea from the refrigerated cabinet by picking it up, rotating your waist to the right and tilting downward, then placing the drink into the shopping cart."]}
{"task_id": "take_drink_to_cart", "episode_index": 91, "video_path": "take_drink_to_cart/videos/chunk-000/{video_key}/episode_000091.mp4", "tasks": ["Retrieve drink from freezer."], "length": 1402, "action_config": [{"start_frame": 30, "end_frame": 455, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 455, "end_frame": 975, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 975, "end_frame": 1077, "action_text": "rotate the waist to the right and tilt it downward", "skill": "Rotate", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 1077, "end_frame": 1125, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot has retrieved the yuzu oolong tea from the refrigerated cabinet and adjusted its orientation by rotating the waist to the right and tilting downward."}, {"start_frame": 1125, "end_frame": 1341, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot retrieved the yuzu oolong tea from the refrigerated cabinet and placed it into the shopping cart."}, {"start_frame": 1341, "end_frame": 1386, "action_text": "rotate the waist to the left and tilt it upward", "skill": "Rotate", "language_memory": "The robot successfully retrieved the yuzu oolong tea from the refrigerated cabinet and placed it into the shopping cart."}], "detailed_task_instruction": ["Retrieve the yuzu oolong tea from the refrigerated cabinet by picking it up, rotating your waist to the right and tilting downward, then placing the drink into the shopping cart."]}
{"task_id": "take_drink_to_cart", "episode_index": 92, "video_path": "take_drink_to_cart/videos/chunk-000/{video_key}/episode_000092.mp4", "tasks": ["Retrieve drink from freezer."], "length": 1032, "action_config": [{"start_frame": 15, "end_frame": 296, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 296, "end_frame": 557, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 557, "end_frame": 705, "action_text": "rotate the waist to the right and tilt it downward", "skill": "Rotate", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 705, "end_frame": 780, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot has retrieved the yuzu oolong tea from the refrigerated cabinet and adjusted its orientation by rotating the waist to the right and tilting downward."}, {"start_frame": 780, "end_frame": 977, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot retrieved the yuzu oolong tea from the refrigerated cabinet and placed it into the shopping cart."}, {"start_frame": 977, "end_frame": 1011, "action_text": "rotate the waist to the left and tilt it upward", "skill": "Rotate", "language_memory": "The robot successfully retrieved the yuzu oolong tea from the refrigerated cabinet and placed it into the shopping cart."}], "detailed_task_instruction": ["Retrieve the yuzu oolong tea from the refrigerated cabinet by picking it up, rotating your waist to the right and tilting downward, then placing the drink into the shopping cart."]}
{"task_id": "take_drink_to_cart", "episode_index": 93, "video_path": "take_drink_to_cart/videos/chunk-000/{video_key}/episode_000093.mp4", "tasks": ["Retrieve drink from freezer."], "length": 1322, "action_config": [{"start_frame": 30, "end_frame": 404, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 404, "end_frame": 750, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 750, "end_frame": 983, "action_text": "rotate the waist to the right and tilt it downward", "skill": "Rotate", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 983, "end_frame": 1061, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot has retrieved the yuzu oolong tea from the refrigerated cabinet and adjusted its orientation by rotating the waist to the right and tilting downward."}, {"start_frame": 1061, "end_frame": 1260, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot retrieved the yuzu oolong tea from the refrigerated cabinet and placed it into the shopping cart."}, {"start_frame": 1260, "end_frame": 1302, "action_text": "rotate the waist to the left and tilt it upward", "skill": "Rotate", "language_memory": "The robot successfully retrieved the yuzu oolong tea from the refrigerated cabinet and placed it into the shopping cart."}], "detailed_task_instruction": ["Retrieve the yuzu oolong tea from the refrigerated cabinet by picking it up, rotating your waist to the right and tilting downward, then placing the drink into the shopping cart."]}
{"task_id": "take_drink_to_cart", "episode_index": 94, "video_path": "take_drink_to_cart/videos/chunk-000/{video_key}/episode_000094.mp4", "tasks": ["Retrieve drink from freezer."], "length": 1454, "action_config": [{"start_frame": 33, "end_frame": 360, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 360, "end_frame": 819, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 819, "end_frame": 998, "action_text": "rotate the waist to the right and tilt it downward", "skill": "Rotate", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 998, "end_frame": 1086, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot has retrieved the yuzu oolong tea from the refrigerated cabinet and adjusted its orientation by rotating the waist to the right and tilting downward."}, {"start_frame": 1086, "end_frame": 1383, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot retrieved the yuzu oolong tea from the refrigerated cabinet and placed it into the shopping cart."}, {"start_frame": 1383, "end_frame": 1425, "action_text": "rotate the waist to the left and tilt it upward", "skill": "Rotate", "language_memory": "The robot successfully retrieved the yuzu oolong tea from the refrigerated cabinet and placed it into the shopping cart."}], "detailed_task_instruction": ["Retrieve the yuzu oolong tea from the refrigerated cabinet by picking it up, rotating your waist to the right and tilting downward, then placing the drink into the shopping cart."]}
{"task_id": "take_drink_to_cart", "episode_index": 95, "video_path": "take_drink_to_cart/videos/chunk-000/{video_key}/episode_000095.mp4", "tasks": ["Retrieve drink from freezer."], "length": 1448, "action_config": [{"start_frame": 30, "end_frame": 456, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 456, "end_frame": 822, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 822, "end_frame": 1023, "action_text": "rotate the waist to the right and tilt it downward", "skill": "Rotate", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 1023, "end_frame": 1100, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot has retrieved the yuzu oolong tea from the refrigerated cabinet and adjusted its orientation by rotating the waist to the right and tilting downward."}, {"start_frame": 1100, "end_frame": 1370, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot retrieved the yuzu oolong tea from the refrigerated cabinet and placed it into the shopping cart."}, {"start_frame": 1370, "end_frame": 1422, "action_text": "rotate the waist to the left and tilt it upward", "skill": "Rotate", "language_memory": "The robot successfully retrieved the yuzu oolong tea from the refrigerated cabinet and placed it into the shopping cart."}], "detailed_task_instruction": ["Retrieve the yuzu oolong tea from the refrigerated cabinet by picking it up, rotating your waist to the right and tilting downward, then placing the drink into the shopping cart."]}
{"task_id": "take_drink_to_cart", "episode_index": 96, "video_path": "take_drink_to_cart/videos/chunk-000/{video_key}/episode_000096.mp4", "tasks": ["Retrieve drink from freezer."], "length": 1550, "action_config": [{"start_frame": 20, "end_frame": 612, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 612, "end_frame": 989, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 989, "end_frame": 1167, "action_text": "rotate the waist to the right and tilt it downward", "skill": "Rotate", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 1167, "end_frame": 1221, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot has retrieved the yuzu oolong tea from the refrigerated cabinet and adjusted its orientation by rotating the waist to the right and tilting downward."}, {"start_frame": 1221, "end_frame": 1469, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot retrieved the yuzu oolong tea from the refrigerated cabinet and placed it into the shopping cart."}, {"start_frame": 1469, "end_frame": 1509, "action_text": "rotate the waist to the left and tilt it upward", "skill": "Rotate", "language_memory": "The robot successfully retrieved the yuzu oolong tea from the refrigerated cabinet and placed it into the shopping cart."}], "detailed_task_instruction": ["Retrieve the yuzu oolong tea from the refrigerated cabinet by picking it up, rotating your waist to the right and tilting downward, then placing the drink into the shopping cart."]}
{"task_id": "take_drink_to_cart", "episode_index": 97, "video_path": "take_drink_to_cart/videos/chunk-000/{video_key}/episode_000097.mp4", "tasks": ["Retrieve drink from freezer."], "length": 1229, "action_config": [{"start_frame": 27, "end_frame": 411, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 411, "end_frame": 747, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 747, "end_frame": 899, "action_text": "rotate the waist to the right and tilt it downward", "skill": "Rotate", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 899, "end_frame": 954, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot has retrieved the yuzu oolong tea from the refrigerated cabinet and adjusted its orientation by rotating the waist to the right and tilting downward."}, {"start_frame": 954, "end_frame": 1175, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot retrieved the yuzu oolong tea from the refrigerated cabinet and placed it into the shopping cart."}, {"start_frame": 1175, "end_frame": 1215, "action_text": "rotate the waist to the left and tilt it upward", "skill": "Rotate", "language_memory": "The robot successfully retrieved the yuzu oolong tea from the refrigerated cabinet and placed it into the shopping cart."}], "detailed_task_instruction": ["Retrieve the yuzu oolong tea from the refrigerated cabinet by picking it up, rotating your waist to the right and tilting downward, then placing the drink into the shopping cart."]}
{"task_id": "take_drink_to_cart", "episode_index": 98, "video_path": "take_drink_to_cart/videos/chunk-000/{video_key}/episode_000098.mp4", "tasks": ["Retrieve drink from freezer."], "length": 1177, "action_config": [{"start_frame": 19, "end_frame": 351, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 351, "end_frame": 666, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 666, "end_frame": 849, "action_text": "rotate the waist to the right and tilt it downward", "skill": "Rotate", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 849, "end_frame": 909, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot has retrieved the yuzu oolong tea from the refrigerated cabinet and adjusted its orientation by rotating the waist to the right and tilting downward."}, {"start_frame": 909, "end_frame": 1095, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot retrieved the yuzu oolong tea from the refrigerated cabinet and placed it into the shopping cart."}, {"start_frame": 1095, "end_frame": 1143, "action_text": "rotate the waist to the left and tilt it upward", "skill": "Rotate", "language_memory": "The robot successfully retrieved the yuzu oolong tea from the refrigerated cabinet and placed it into the shopping cart."}], "detailed_task_instruction": ["Retrieve the yuzu oolong tea from the refrigerated cabinet by picking it up, rotating your waist to the right and tilting downward, then placing the drink into the shopping cart."]}
{"task_id": "take_drink_to_cart", "episode_index": 99, "video_path": "take_drink_to_cart/videos/chunk-000/{video_key}/episode_000099.mp4", "tasks": ["Retrieve drink from freezer."], "length": 1162, "action_config": [{"start_frame": 15, "end_frame": 371, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 371, "end_frame": 708, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 708, "end_frame": 854, "action_text": "rotate the waist to the right and tilt it downward", "skill": "Rotate", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 854, "end_frame": 919, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot has retrieved the yuzu oolong tea from the refrigerated cabinet and adjusted its orientation by rotating the waist to the right and tilting downward."}, {"start_frame": 919, "end_frame": 1107, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot retrieved the yuzu oolong tea from the refrigerated cabinet and placed it into the shopping cart."}, {"start_frame": 1107, "end_frame": 1140, "action_text": "rotate the waist to the left and tilt it upward", "skill": "Rotate", "language_memory": "The robot successfully retrieved the yuzu oolong tea from the refrigerated cabinet and placed it into the shopping cart."}], "detailed_task_instruction": ["Retrieve the yuzu oolong tea from the refrigerated cabinet by picking it up, rotating your waist to the right and tilting downward, then placing the drink into the shopping cart."]}
{"task_id": "take_drink_to_cart", "episode_index": 100, "video_path": "take_drink_to_cart/videos/chunk-000/{video_key}/episode_000100.mp4", "tasks": ["Retrieve drink from freezer."], "length": 1711, "action_config": [{"start_frame": 18, "end_frame": 386, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 386, "end_frame": 909, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 909, "end_frame": 1176, "action_text": "rotate the waist to the right and tilt it downward", "skill": "Rotate", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 1176, "end_frame": 1263, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot has retrieved the yuzu oolong tea from the refrigerated cabinet and adjusted its orientation by rotating the waist to the right and tilting downward."}, {"start_frame": 1263, "end_frame": 1646, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot retrieved the yuzu oolong tea from the refrigerated cabinet and placed it into the shopping cart."}, {"start_frame": 1646, "end_frame": 1685, "action_text": "rotate the waist to the left and tilt it upward", "skill": "Rotate", "language_memory": "The robot successfully retrieved the yuzu oolong tea from the refrigerated cabinet and placed it into the shopping cart."}], "detailed_task_instruction": ["Retrieve the yuzu oolong tea from the refrigerated cabinet by picking it up, rotating your waist to the right and tilting downward, then placing the drink into the shopping cart."]}
{"task_id": "take_drink_to_cart", "episode_index": 101, "video_path": "take_drink_to_cart/videos/chunk-000/{video_key}/episode_000101.mp4", "tasks": ["Retrieve drink from freezer."], "length": 1210, "action_config": [{"start_frame": 12, "end_frame": 432, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 432, "end_frame": 765, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 765, "end_frame": 928, "action_text": "rotate the waist to the right and tilt it downward", "skill": "Rotate", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 928, "end_frame": 984, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot has retrieved the yuzu oolong tea from the refrigerated cabinet and adjusted its orientation by rotating the waist to the right and tilting downward."}, {"start_frame": 984, "end_frame": 1148, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot retrieved the yuzu oolong tea from the refrigerated cabinet and placed it into the shopping cart."}, {"start_frame": 1148, "end_frame": 1187, "action_text": "rotate the waist to the left and tilt it upward", "skill": "Rotate", "language_memory": "The robot successfully retrieved the yuzu oolong tea from the refrigerated cabinet and placed it into the shopping cart."}], "detailed_task_instruction": ["Retrieve the yuzu oolong tea from the refrigerated cabinet by picking it up, rotating your waist to the right and tilting downward, then placing the drink into the shopping cart."]}
{"task_id": "take_drink_to_cart", "episode_index": 102, "video_path": "take_drink_to_cart/videos/chunk-000/{video_key}/episode_000102.mp4", "tasks": ["Retrieve drink from freezer."], "length": 1050, "action_config": [{"start_frame": 15, "end_frame": 362, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 362, "end_frame": 576, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 576, "end_frame": 738, "action_text": "rotate the waist to the right and tilt it downward", "skill": "Rotate", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 738, "end_frame": 813, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot has retrieved the yuzu oolong tea from the refrigerated cabinet and adjusted its orientation by rotating the waist to the right and tilting downward."}, {"start_frame": 813, "end_frame": 990, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot retrieved the yuzu oolong tea from the refrigerated cabinet and placed it into the shopping cart."}, {"start_frame": 990, "end_frame": 1026, "action_text": "rotate the waist to the left and tilt it upward", "skill": "Rotate", "language_memory": "The robot successfully retrieved the yuzu oolong tea from the refrigerated cabinet and placed it into the shopping cart."}], "detailed_task_instruction": ["Retrieve the yuzu oolong tea from the refrigerated cabinet by picking it up, rotating your waist to the right and tilting downward, then placing the drink into the shopping cart."]}
{"task_id": "take_drink_to_cart", "episode_index": 103, "video_path": "take_drink_to_cart/videos/chunk-000/{video_key}/episode_000103.mp4", "tasks": ["Retrieve drink from freezer."], "length": 1318, "action_config": [{"start_frame": 21, "end_frame": 318, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 318, "end_frame": 750, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 750, "end_frame": 930, "action_text": "rotate the waist to the right and tilt it downward", "skill": "Rotate", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 930, "end_frame": 999, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot has retrieved the yuzu oolong tea from the refrigerated cabinet and adjusted its orientation by rotating the waist to the right and tilting downward."}, {"start_frame": 999, "end_frame": 1256, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot retrieved the yuzu oolong tea from the refrigerated cabinet and placed it into the shopping cart."}, {"start_frame": 1256, "end_frame": 1298, "action_text": "rotate the waist to the left and tilt it upward", "skill": "Rotate", "language_memory": "The robot successfully retrieved the yuzu oolong tea from the refrigerated cabinet and placed it into the shopping cart."}], "detailed_task_instruction": ["Retrieve the yuzu oolong tea from the refrigerated cabinet by picking it up, rotating your waist to the right and tilting downward, then placing the drink into the shopping cart."]}
{"task_id": "take_drink_to_cart", "episode_index": 104, "video_path": "take_drink_to_cart/videos/chunk-000/{video_key}/episode_000104.mp4", "tasks": ["Retrieve drink from freezer."], "length": 1106, "action_config": [{"start_frame": 23, "end_frame": 416, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 416, "end_frame": 654, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 654, "end_frame": 750, "action_text": "rotate the waist to the right and tilt it downward", "skill": "Rotate", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 750, "end_frame": 819, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot has retrieved the yuzu oolong tea from the refrigerated cabinet and adjusted its orientation by rotating the waist to the right and tilting downward."}, {"start_frame": 819, "end_frame": 1018, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot retrieved the yuzu oolong tea from the refrigerated cabinet and placed it into the shopping cart."}, {"start_frame": 1018, "end_frame": 1062, "action_text": "rotate the waist to the left and tilt it upward", "skill": "Rotate", "language_memory": "The robot successfully retrieved the yuzu oolong tea from the refrigerated cabinet and placed it into the shopping cart."}], "detailed_task_instruction": ["Retrieve the yuzu oolong tea from the refrigerated cabinet by picking it up, rotating your waist to the right and tilting downward, then placing the drink into the shopping cart."]}
{"task_id": "take_drink_to_cart", "episode_index": 105, "video_path": "take_drink_to_cart/videos/chunk-000/{video_key}/episode_000105.mp4", "tasks": ["Retrieve drink from freezer."], "length": 1342, "action_config": [{"start_frame": 27, "end_frame": 333, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 333, "end_frame": 666, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 666, "end_frame": 851, "action_text": "rotate the waist to the right and tilt it downward", "skill": "Rotate", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 851, "end_frame": 939, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot has retrieved the yuzu oolong tea from the refrigerated cabinet and adjusted its orientation by rotating the waist to the right and tilting downward."}, {"start_frame": 939, "end_frame": 1273, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot retrieved the yuzu oolong tea from the refrigerated cabinet and placed it into the shopping cart."}, {"start_frame": 1273, "end_frame": 1311, "action_text": "rotate the waist to the left and tilt it upward", "skill": "Rotate", "language_memory": "The robot successfully retrieved the yuzu oolong tea from the refrigerated cabinet and placed it into the shopping cart."}], "detailed_task_instruction": ["Retrieve the yuzu oolong tea from the refrigerated cabinet by picking it up, rotating your waist to the right and tilting downward, then placing the drink into the shopping cart."]}
{"task_id": "take_drink_to_cart", "episode_index": 106, "video_path": "take_drink_to_cart/videos/chunk-000/{video_key}/episode_000106.mp4", "tasks": ["Retrieve drink from freezer."], "length": 1095, "action_config": [{"start_frame": 23, "end_frame": 306, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 306, "end_frame": 632, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 632, "end_frame": 780, "action_text": "rotate the waist to the right and tilt it downward", "skill": "Rotate", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 780, "end_frame": 832, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot has retrieved the yuzu oolong tea from the refrigerated cabinet and adjusted its orientation by rotating the waist to the right and tilting downward."}, {"start_frame": 832, "end_frame": 1029, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot retrieved the yuzu oolong tea from the refrigerated cabinet and placed it into the shopping cart."}, {"start_frame": 1029, "end_frame": 1065, "action_text": "rotate the waist to the left and tilt it upward", "skill": "Rotate", "language_memory": "The robot successfully retrieved the yuzu oolong tea from the refrigerated cabinet and placed it into the shopping cart."}], "detailed_task_instruction": ["Retrieve the yuzu oolong tea from the refrigerated cabinet by picking it up, rotating your waist to the right and tilting downward, then placing the drink into the shopping cart."]}
{"task_id": "take_drink_to_cart", "episode_index": 107, "video_path": "take_drink_to_cart/videos/chunk-000/{video_key}/episode_000107.mp4", "tasks": ["Retrieve drink from freezer."], "length": 1287, "action_config": [{"start_frame": 18, "end_frame": 387, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 387, "end_frame": 735, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 735, "end_frame": 890, "action_text": "rotate the waist to the right and tilt it downward", "skill": "Rotate", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 890, "end_frame": 960, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot has retrieved the yuzu oolong tea from the refrigerated cabinet and adjusted its orientation by rotating the waist to the right and tilting downward."}, {"start_frame": 960, "end_frame": 1223, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot retrieved the yuzu oolong tea from the refrigerated cabinet and placed it into the shopping cart."}, {"start_frame": 1223, "end_frame": 1259, "action_text": "rotate the waist to the left and tilt it upward", "skill": "Rotate", "language_memory": "The robot successfully retrieved the yuzu oolong tea from the refrigerated cabinet and placed it into the shopping cart."}], "detailed_task_instruction": ["Retrieve the yuzu oolong tea from the refrigerated cabinet by picking it up, rotating your waist to the right and tilting downward, then placing the drink into the shopping cart."]}
{"task_id": "take_drink_to_cart", "episode_index": 108, "video_path": "take_drink_to_cart/videos/chunk-000/{video_key}/episode_000108.mp4", "tasks": ["Retrieve drink from freezer."], "length": 1481, "action_config": [{"start_frame": 21, "end_frame": 540, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 540, "end_frame": 893, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 893, "end_frame": 1076, "action_text": "rotate the waist to the right and tilt it downward", "skill": "Rotate", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 1076, "end_frame": 1146, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot has retrieved the yuzu oolong tea from the refrigerated cabinet and adjusted its orientation by rotating the waist to the right and tilting downward."}, {"start_frame": 1146, "end_frame": 1392, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot retrieved the yuzu oolong tea from the refrigerated cabinet and placed it into the shopping cart."}, {"start_frame": 1392, "end_frame": 1442, "action_text": "rotate the waist to the left and tilt it upward", "skill": "Rotate", "language_memory": "The robot successfully retrieved the yuzu oolong tea from the refrigerated cabinet and placed it into the shopping cart."}], "detailed_task_instruction": ["Retrieve the yuzu oolong tea from the refrigerated cabinet by picking it up, rotating your waist to the right and tilting downward, then placing the drink into the shopping cart."]}
{"task_id": "take_drink_to_cart", "episode_index": 109, "video_path": "take_drink_to_cart/videos/chunk-000/{video_key}/episode_000109.mp4", "tasks": ["Retrieve drink from freezer."], "length": 1144, "action_config": [{"start_frame": 17, "end_frame": 290, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 290, "end_frame": 549, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 549, "end_frame": 669, "action_text": "rotate the waist to the right and tilt it downward", "skill": "Rotate", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 669, "end_frame": 779, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot has retrieved the yuzu oolong tea from the refrigerated cabinet and adjusted its orientation by rotating the waist to the right and tilting downward."}, {"start_frame": 779, "end_frame": 1038, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot retrieved the yuzu oolong tea from the refrigerated cabinet and placed it into the shopping cart."}, {"start_frame": 1038, "end_frame": 1080, "action_text": "rotate the waist to the left and tilt it upward", "skill": "Rotate", "language_memory": "The robot successfully retrieved the yuzu oolong tea from the refrigerated cabinet and placed it into the shopping cart."}], "detailed_task_instruction": ["Retrieve the yuzu oolong tea from the refrigerated cabinet by picking it up, rotating your waist to the right and tilting downward, then placing the drink into the shopping cart."]}
{"task_id": "take_drink_to_cart", "episode_index": 110, "video_path": "take_drink_to_cart/videos/chunk-000/{video_key}/episode_000110.mp4", "tasks": ["Retrieve drink from freezer."], "length": 1443, "action_config": [{"start_frame": 17, "end_frame": 446, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 446, "end_frame": 843, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 843, "end_frame": 1037, "action_text": "rotate the waist to the right and tilt it downward", "skill": "Rotate", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 1037, "end_frame": 1109, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot has retrieved the yuzu oolong tea from the refrigerated cabinet and adjusted its orientation by rotating the waist to the right and tilting downward."}, {"start_frame": 1109, "end_frame": 1353, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot retrieved the yuzu oolong tea from the refrigerated cabinet and placed it into the shopping cart."}, {"start_frame": 1353, "end_frame": 1395, "action_text": "rotate the waist to the left and tilt it upward", "skill": "Rotate", "language_memory": "The robot successfully retrieved the yuzu oolong tea from the refrigerated cabinet and placed it into the shopping cart."}], "detailed_task_instruction": ["Retrieve the yuzu oolong tea from the refrigerated cabinet by picking it up, rotating your waist to the right and tilting downward, then placing the drink into the shopping cart."]}
{"task_id": "take_drink_to_cart", "episode_index": 111, "video_path": "take_drink_to_cart/videos/chunk-000/{video_key}/episode_000111.mp4", "tasks": ["Retrieve drink from freezer."], "length": 1039, "action_config": [{"start_frame": 24, "end_frame": 337, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 337, "end_frame": 597, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 597, "end_frame": 713, "action_text": "rotate the waist to the right and tilt it downward", "skill": "Rotate", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 713, "end_frame": 762, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot has retrieved the yuzu oolong tea from the refrigerated cabinet and adjusted its orientation by rotating the waist to the right and tilting downward."}, {"start_frame": 762, "end_frame": 984, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot retrieved the yuzu oolong tea from the refrigerated cabinet and placed it into the shopping cart."}, {"start_frame": 984, "end_frame": 1019, "action_text": "rotate the waist to the left and tilt it upward", "skill": "Rotate", "language_memory": "The robot successfully retrieved the yuzu oolong tea from the refrigerated cabinet and placed it into the shopping cart."}], "detailed_task_instruction": ["Retrieve the yuzu oolong tea from the refrigerated cabinet by picking it up, rotating your waist to the right and tilting downward, then placing the drink into the shopping cart."]}
{"task_id": "take_drink_to_cart", "episode_index": 112, "video_path": "take_drink_to_cart/videos/chunk-000/{video_key}/episode_000112.mp4", "tasks": ["Retrieve drink from freezer."], "length": 1397, "action_config": [{"start_frame": 20, "end_frame": 405, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 405, "end_frame": 812, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 812, "end_frame": 1020, "action_text": "rotate the waist to the right and tilt it downward", "skill": "Rotate", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 1020, "end_frame": 1081, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot has retrieved the yuzu oolong tea from the refrigerated cabinet and adjusted its orientation by rotating the waist to the right and tilting downward."}, {"start_frame": 1081, "end_frame": 1326, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot retrieved the yuzu oolong tea from the refrigerated cabinet and placed it into the shopping cart."}, {"start_frame": 1326, "end_frame": 1365, "action_text": "rotate the waist to the left and tilt it upward", "skill": "Rotate", "language_memory": "The robot successfully retrieved the yuzu oolong tea from the refrigerated cabinet and placed it into the shopping cart."}], "detailed_task_instruction": ["Retrieve the yuzu oolong tea from the refrigerated cabinet by picking it up, rotating your waist to the right and tilting downward, then placing the drink into the shopping cart."]}
{"task_id": "take_drink_to_cart", "episode_index": 113, "video_path": "take_drink_to_cart/videos/chunk-000/{video_key}/episode_000113.mp4", "tasks": ["Retrieve drink from freezer."], "length": 1304, "action_config": [{"start_frame": 21, "end_frame": 556, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 556, "end_frame": 882, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 882, "end_frame": 1023, "action_text": "rotate the waist to the right and tilt it downward", "skill": "Rotate", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 1023, "end_frame": 1086, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot has retrieved the yuzu oolong tea from the refrigerated cabinet and adjusted its orientation by rotating the waist to the right and tilting downward."}, {"start_frame": 1086, "end_frame": 1236, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot retrieved the yuzu oolong tea from the refrigerated cabinet and placed it into the shopping cart."}, {"start_frame": 1236, "end_frame": 1281, "action_text": "rotate the waist to the left and tilt it upward", "skill": "Rotate", "language_memory": "The robot successfully retrieved the yuzu oolong tea from the refrigerated cabinet and placed it into the shopping cart."}], "detailed_task_instruction": ["Retrieve the yuzu oolong tea from the refrigerated cabinet by picking it up, rotating your waist to the right and tilting downward, then placing the drink into the shopping cart."]}
{"task_id": "take_drink_to_cart", "episode_index": 114, "video_path": "take_drink_to_cart/videos/chunk-000/{video_key}/episode_000114.mp4", "tasks": ["Retrieve drink from freezer."], "length": 1544, "action_config": [{"start_frame": 42, "end_frame": 462, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 462, "end_frame": 969, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 969, "end_frame": 1140, "action_text": "rotate the waist to the right and tilt it downward", "skill": "Rotate", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 1140, "end_frame": 1214, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot has retrieved the yuzu oolong tea from the refrigerated cabinet and adjusted its orientation by rotating the waist to the right and tilting downward."}, {"start_frame": 1214, "end_frame": 1449, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot retrieved the yuzu oolong tea from the refrigerated cabinet and placed it into the shopping cart."}, {"start_frame": 1449, "end_frame": 1497, "action_text": "rotate the waist to the left and tilt it upward", "skill": "Rotate", "language_memory": "The robot successfully retrieved the yuzu oolong tea from the refrigerated cabinet and placed it into the shopping cart."}], "detailed_task_instruction": ["Retrieve the yuzu oolong tea from the refrigerated cabinet by picking it up, rotating your waist to the right and tilting downward, then placing the drink into the shopping cart."]}
{"task_id": "take_drink_to_cart", "episode_index": 115, "video_path": "take_drink_to_cart/videos/chunk-000/{video_key}/episode_000115.mp4", "tasks": ["Retrieve drink from freezer."], "length": 1176, "action_config": [{"start_frame": 28, "end_frame": 390, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 390, "end_frame": 680, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 680, "end_frame": 834, "action_text": "rotate the waist to the right and tilt it downward", "skill": "Rotate", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 834, "end_frame": 892, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot has retrieved the yuzu oolong tea from the refrigerated cabinet and adjusted its orientation by rotating the waist to the right and tilting downward."}, {"start_frame": 892, "end_frame": 1116, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot retrieved the yuzu oolong tea from the refrigerated cabinet and placed it into the shopping cart."}, {"start_frame": 1116, "end_frame": 1152, "action_text": "rotate the waist to the left and tilt it upward", "skill": "Rotate", "language_memory": "The robot successfully retrieved the yuzu oolong tea from the refrigerated cabinet and placed it into the shopping cart."}], "detailed_task_instruction": ["Retrieve the yuzu oolong tea from the refrigerated cabinet by picking it up, rotating your waist to the right and tilting downward, then placing the drink into the shopping cart."]}
{"task_id": "take_drink_to_cart", "episode_index": 116, "video_path": "take_drink_to_cart/videos/chunk-000/{video_key}/episode_000116.mp4", "tasks": ["Retrieve drink from freezer."], "length": 1309, "action_config": [{"start_frame": 24, "end_frame": 356, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 356, "end_frame": 717, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 717, "end_frame": 903, "action_text": "rotate the waist to the right and tilt it downward", "skill": "Rotate", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 903, "end_frame": 978, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot has retrieved the yuzu oolong tea from the refrigerated cabinet and adjusted its orientation by rotating the waist to the right and tilting downward."}, {"start_frame": 978, "end_frame": 1236, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot retrieved the yuzu oolong tea from the refrigerated cabinet and placed it into the shopping cart."}, {"start_frame": 1236, "end_frame": 1286, "action_text": "rotate the waist to the left and tilt it upward", "skill": "Rotate", "language_memory": "The robot successfully retrieved the yuzu oolong tea from the refrigerated cabinet and placed it into the shopping cart."}], "detailed_task_instruction": ["Retrieve the yuzu oolong tea from the refrigerated cabinet by picking it up, rotating your waist to the right and tilting downward, then placing the drink into the shopping cart."]}
{"task_id": "take_drink_to_cart", "episode_index": 117, "video_path": "take_drink_to_cart/videos/chunk-000/{video_key}/episode_000117.mp4", "tasks": ["Retrieve drink from freezer."], "length": 1312, "action_config": [{"start_frame": 24, "end_frame": 462, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 462, "end_frame": 785, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 785, "end_frame": 941, "action_text": "rotate the waist to the right and tilt it downward", "skill": "Rotate", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 941, "end_frame": 1005, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot has retrieved the yuzu oolong tea from the refrigerated cabinet and adjusted its orientation by rotating the waist to the right and tilting downward."}, {"start_frame": 1005, "end_frame": 1253, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot retrieved the yuzu oolong tea from the refrigerated cabinet and placed it into the shopping cart."}, {"start_frame": 1253, "end_frame": 1290, "action_text": "rotate the waist to the left and tilt it upward", "skill": "Rotate", "language_memory": "The robot successfully retrieved the yuzu oolong tea from the refrigerated cabinet and placed it into the shopping cart."}], "detailed_task_instruction": ["Retrieve the yuzu oolong tea from the refrigerated cabinet by picking it up, rotating your waist to the right and tilting downward, then placing the drink into the shopping cart."]}
{"task_id": "take_drink_to_cart", "episode_index": 118, "video_path": "take_drink_to_cart/videos/chunk-000/{video_key}/episode_000118.mp4", "tasks": ["Retrieve drink from freezer."], "length": 1083, "action_config": [{"start_frame": 16, "end_frame": 297, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 297, "end_frame": 579, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 579, "end_frame": 741, "action_text": "rotate the waist to the right and tilt it downward", "skill": "Rotate", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 741, "end_frame": 801, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot has retrieved the yuzu oolong tea from the refrigerated cabinet and adjusted its orientation by rotating the waist to the right and tilting downward."}, {"start_frame": 801, "end_frame": 1029, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot retrieved the yuzu oolong tea from the refrigerated cabinet and placed it into the shopping cart."}, {"start_frame": 1029, "end_frame": 1065, "action_text": "rotate the waist to the left and tilt it upward", "skill": "Rotate", "language_memory": "The robot successfully retrieved the yuzu oolong tea from the refrigerated cabinet and placed it into the shopping cart."}], "detailed_task_instruction": ["Retrieve the yuzu oolong tea from the refrigerated cabinet by picking it up, rotating your waist to the right and tilting downward, then placing the drink into the shopping cart."]}
{"task_id": "take_drink_to_cart", "episode_index": 119, "video_path": "take_drink_to_cart/videos/chunk-000/{video_key}/episode_000119.mp4", "tasks": ["Retrieve drink from freezer."], "length": 1479, "action_config": [{"start_frame": 39, "end_frame": 537, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 537, "end_frame": 912, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 912, "end_frame": 1107, "action_text": "rotate the waist to the right and tilt it downward", "skill": "Rotate", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 1107, "end_frame": 1179, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot has retrieved the yuzu oolong tea from the refrigerated cabinet and adjusted its orientation by rotating the waist to the right and tilting downward."}, {"start_frame": 1179, "end_frame": 1414, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot retrieved the yuzu oolong tea from the refrigerated cabinet and placed it into the shopping cart."}, {"start_frame": 1414, "end_frame": 1455, "action_text": "rotate the waist to the left and tilt it upward", "skill": "Rotate", "language_memory": "The robot successfully retrieved the yuzu oolong tea from the refrigerated cabinet and placed it into the shopping cart."}], "detailed_task_instruction": ["Retrieve the yuzu oolong tea from the refrigerated cabinet by picking it up, rotating your waist to the right and tilting downward, then placing the drink into the shopping cart."]}
{"task_id": "take_drink_to_cart", "episode_index": 120, "video_path": "take_drink_to_cart/videos/chunk-000/{video_key}/episode_000120.mp4", "tasks": ["Retrieve drink from freezer."], "length": 1236, "action_config": [{"start_frame": 25, "end_frame": 339, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 339, "end_frame": 690, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 690, "end_frame": 846, "action_text": "rotate the waist to the right and tilt it downward", "skill": "Rotate", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 846, "end_frame": 927, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot has retrieved the yuzu oolong tea from the refrigerated cabinet and adjusted its orientation by rotating the waist to the right and tilting downward."}, {"start_frame": 927, "end_frame": 1173, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot retrieved the yuzu oolong tea from the refrigerated cabinet and placed it into the shopping cart."}, {"start_frame": 1173, "end_frame": 1208, "action_text": "rotate the waist to the left and tilt it upward", "skill": "Rotate", "language_memory": "The robot successfully retrieved the yuzu oolong tea from the refrigerated cabinet and placed it into the shopping cart."}], "detailed_task_instruction": ["Retrieve the yuzu oolong tea from the refrigerated cabinet by picking it up, rotating your waist to the right and tilting downward, then placing the drink into the shopping cart."]}
{"task_id": "take_drink_to_cart", "episode_index": 121, "video_path": "take_drink_to_cart/videos/chunk-000/{video_key}/episode_000121.mp4", "tasks": ["Retrieve drink from freezer."], "length": 1318, "action_config": [{"start_frame": 42, "end_frame": 369, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 369, "end_frame": 711, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 711, "end_frame": 882, "action_text": "rotate the waist to the right and tilt it downward", "skill": "Rotate", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 882, "end_frame": 968, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot has retrieved the yuzu oolong tea from the refrigerated cabinet and adjusted its orientation by rotating the waist to the right and tilting downward."}, {"start_frame": 968, "end_frame": 1241, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot retrieved the yuzu oolong tea from the refrigerated cabinet and placed it into the shopping cart."}, {"start_frame": 1241, "end_frame": 1281, "action_text": "rotate the waist to the left and tilt it upward", "skill": "Rotate", "language_memory": "The robot successfully retrieved the yuzu oolong tea from the refrigerated cabinet and placed it into the shopping cart."}], "detailed_task_instruction": ["Retrieve the yuzu oolong tea from the refrigerated cabinet by picking it up, rotating your waist to the right and tilting downward, then placing the drink into the shopping cart."]}
{"task_id": "take_drink_to_cart", "episode_index": 122, "video_path": "take_drink_to_cart/videos/chunk-000/{video_key}/episode_000122.mp4", "tasks": ["Retrieve drink from freezer."], "length": 1428, "action_config": [{"start_frame": 23, "end_frame": 389, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 389, "end_frame": 723, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 723, "end_frame": 903, "action_text": "rotate the waist to the right and tilt it downward", "skill": "Rotate", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 903, "end_frame": 974, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot has retrieved the yuzu oolong tea from the refrigerated cabinet and adjusted its orientation by rotating the waist to the right and tilting downward."}, {"start_frame": 974, "end_frame": 1358, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot retrieved the yuzu oolong tea from the refrigerated cabinet and placed it into the shopping cart."}, {"start_frame": 1358, "end_frame": 1398, "action_text": "rotate the waist to the left and tilt it upward", "skill": "Rotate", "language_memory": "The robot successfully retrieved the yuzu oolong tea from the refrigerated cabinet and placed it into the shopping cart."}], "detailed_task_instruction": ["Retrieve the yuzu oolong tea from the refrigerated cabinet by picking it up, rotating your waist to the right and tilting downward, then placing the drink into the shopping cart."]}
{"task_id": "take_drink_to_cart", "episode_index": 123, "video_path": "take_drink_to_cart/videos/chunk-000/{video_key}/episode_000123.mp4", "tasks": ["Retrieve drink from freezer."], "length": 1081, "action_config": [{"start_frame": 20, "end_frame": 270, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 270, "end_frame": 603, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 603, "end_frame": 738, "action_text": "rotate the waist to the right and tilt it downward", "skill": "Rotate", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 738, "end_frame": 810, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot has retrieved the yuzu oolong tea from the refrigerated cabinet and adjusted its orientation by rotating the waist to the right and tilting downward."}, {"start_frame": 810, "end_frame": 1026, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot retrieved the yuzu oolong tea from the refrigerated cabinet and placed it into the shopping cart."}, {"start_frame": 1026, "end_frame": 1059, "action_text": "rotate the waist to the left and tilt it upward", "skill": "Rotate", "language_memory": "The robot successfully retrieved the yuzu oolong tea from the refrigerated cabinet and placed it into the shopping cart."}], "detailed_task_instruction": ["Retrieve the yuzu oolong tea from the refrigerated cabinet by picking it up, rotating your waist to the right and tilting downward, then placing the drink into the shopping cart."]}
{"task_id": "take_drink_to_cart", "episode_index": 124, "video_path": "take_drink_to_cart/videos/chunk-000/{video_key}/episode_000124.mp4", "tasks": ["Retrieve drink from freezer."], "length": 1610, "action_config": [{"start_frame": 15, "end_frame": 597, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 597, "end_frame": 986, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 986, "end_frame": 1176, "action_text": "rotate the waist to the right and tilt it downward", "skill": "Rotate", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 1176, "end_frame": 1241, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot has retrieved the yuzu oolong tea from the refrigerated cabinet and adjusted its orientation by rotating the waist to the right and tilting downward."}, {"start_frame": 1241, "end_frame": 1517, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot retrieved the yuzu oolong tea from the refrigerated cabinet and placed it into the shopping cart."}, {"start_frame": 1517, "end_frame": 1574, "action_text": "rotate the waist to the left and tilt it upward", "skill": "Rotate", "language_memory": "The robot successfully retrieved the yuzu oolong tea from the refrigerated cabinet and placed it into the shopping cart."}], "detailed_task_instruction": ["Retrieve the yuzu oolong tea from the refrigerated cabinet by picking it up, rotating your waist to the right and tilting downward, then placing the drink into the shopping cart."]}
{"task_id": "take_drink_to_cart", "episode_index": 125, "video_path": "take_drink_to_cart/videos/chunk-000/{video_key}/episode_000125.mp4", "tasks": ["Retrieve drink from freezer."], "length": 1293, "action_config": [{"start_frame": 18, "end_frame": 363, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 363, "end_frame": 678, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 678, "end_frame": 876, "action_text": "rotate the waist to the right and tilt it downward", "skill": "Rotate", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 876, "end_frame": 969, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot has retrieved the yuzu oolong tea from the refrigerated cabinet and adjusted its orientation by rotating the waist to the right and tilting downward."}, {"start_frame": 969, "end_frame": 1230, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot retrieved the yuzu oolong tea from the refrigerated cabinet and placed it into the shopping cart."}, {"start_frame": 1230, "end_frame": 1270, "action_text": "rotate the waist to the left and tilt it upward", "skill": "Rotate", "language_memory": "The robot successfully retrieved the yuzu oolong tea from the refrigerated cabinet and placed it into the shopping cart."}], "detailed_task_instruction": ["Retrieve the yuzu oolong tea from the refrigerated cabinet by picking it up, rotating your waist to the right and tilting downward, then placing the drink into the shopping cart."]}
{"task_id": "take_drink_to_cart", "episode_index": 126, "video_path": "take_drink_to_cart/videos/chunk-000/{video_key}/episode_000126.mp4", "tasks": ["Retrieve drink from freezer."], "length": 1416, "action_config": [{"start_frame": 0, "end_frame": 462, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 462, "end_frame": 761, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 761, "end_frame": 951, "action_text": "rotate the waist to the right and tilt it downward", "skill": "Rotate", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 951, "end_frame": 1009, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot has retrieved the yuzu oolong tea from the refrigerated cabinet and adjusted its orientation by rotating the waist to the right and tilting downward."}, {"start_frame": 1009, "end_frame": 1329, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot retrieved the yuzu oolong tea from the refrigerated cabinet and placed it into the shopping cart."}, {"start_frame": 1329, "end_frame": 1364, "action_text": "rotate the waist to the left and tilt it upward", "skill": "Rotate", "language_memory": "The robot successfully retrieved the yuzu oolong tea from the refrigerated cabinet and placed it into the shopping cart."}], "detailed_task_instruction": ["Retrieve the yuzu oolong tea from the refrigerated cabinet by picking it up, rotating your waist to the right and tilting downward, then placing the drink into the shopping cart."]}
{"task_id": "take_drink_to_cart", "episode_index": 127, "video_path": "take_drink_to_cart/videos/chunk-000/{video_key}/episode_000127.mp4", "tasks": ["Retrieve drink from freezer."], "length": 1223, "action_config": [{"start_frame": 19, "end_frame": 389, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 389, "end_frame": 723, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 723, "end_frame": 895, "action_text": "rotate the waist to the right and tilt it downward", "skill": "Rotate", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 895, "end_frame": 964, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot has retrieved the yuzu oolong tea from the refrigerated cabinet and adjusted its orientation by rotating the waist to the right and tilting downward."}, {"start_frame": 964, "end_frame": 1158, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot retrieved the yuzu oolong tea from the refrigerated cabinet and placed it into the shopping cart."}, {"start_frame": 1158, "end_frame": 1203, "action_text": "rotate the waist to the left and tilt it upward", "skill": "Rotate", "language_memory": "The robot successfully retrieved the yuzu oolong tea from the refrigerated cabinet and placed it into the shopping cart."}], "detailed_task_instruction": ["Retrieve the yuzu oolong tea from the refrigerated cabinet by picking it up, rotating your waist to the right and tilting downward, then placing the drink into the shopping cart."]}
{"task_id": "take_drink_to_cart", "episode_index": 128, "video_path": "take_drink_to_cart/videos/chunk-000/{video_key}/episode_000128.mp4", "tasks": ["Retrieve drink from freezer."], "length": 1176, "action_config": [{"start_frame": 33, "end_frame": 404, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 404, "end_frame": 696, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 696, "end_frame": 824, "action_text": "rotate the waist to the right and tilt it downward", "skill": "Rotate", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 824, "end_frame": 896, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot has retrieved the yuzu oolong tea from the refrigerated cabinet and adjusted its orientation by rotating the waist to the right and tilting downward."}, {"start_frame": 896, "end_frame": 1080, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot retrieved the yuzu oolong tea from the refrigerated cabinet and placed it into the shopping cart."}, {"start_frame": 1080, "end_frame": 1128, "action_text": "rotate the waist to the left and tilt it upward", "skill": "Rotate", "language_memory": "The robot successfully retrieved the yuzu oolong tea from the refrigerated cabinet and placed it into the shopping cart."}], "detailed_task_instruction": ["Retrieve the yuzu oolong tea from the refrigerated cabinet by picking it up, rotating your waist to the right and tilting downward, then placing the drink into the shopping cart."]}
{"task_id": "take_drink_to_cart", "episode_index": 129, "video_path": "take_drink_to_cart/videos/chunk-000/{video_key}/episode_000129.mp4", "tasks": ["Retrieve drink from freezer."], "length": 1652, "action_config": [{"start_frame": 12, "end_frame": 585, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 585, "end_frame": 1079, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 1079, "end_frame": 1269, "action_text": "rotate the waist to the right and tilt it downward", "skill": "Rotate", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 1269, "end_frame": 1330, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot has retrieved the yuzu oolong tea from the refrigerated cabinet and adjusted its orientation by rotating the waist to the right and tilting downward."}, {"start_frame": 1330, "end_frame": 1569, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot retrieved the yuzu oolong tea from the refrigerated cabinet and placed it into the shopping cart."}, {"start_frame": 1569, "end_frame": 1614, "action_text": "rotate the waist to the left and tilt it upward", "skill": "Rotate", "language_memory": "The robot successfully retrieved the yuzu oolong tea from the refrigerated cabinet and placed it into the shopping cart."}], "detailed_task_instruction": ["Retrieve the yuzu oolong tea from the refrigerated cabinet by picking it up, rotating your waist to the right and tilting downward, then placing the drink into the shopping cart."]}
{"task_id": "take_drink_to_cart", "episode_index": 130, "video_path": "take_drink_to_cart/videos/chunk-000/{video_key}/episode_000130.mp4", "tasks": ["Retrieve drink from freezer."], "length": 1714, "action_config": [{"start_frame": 27, "end_frame": 530, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 530, "end_frame": 1059, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 1059, "end_frame": 1287, "action_text": "rotate the waist to the right and tilt it downward", "skill": "Rotate", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 1287, "end_frame": 1370, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot has retrieved the yuzu oolong tea from the refrigerated cabinet and adjusted its orientation by rotating the waist to the right and tilting downward."}, {"start_frame": 1370, "end_frame": 1638, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot retrieved the yuzu oolong tea from the refrigerated cabinet and placed it into the shopping cart."}, {"start_frame": 1638, "end_frame": 1676, "action_text": "rotate the waist to the left and tilt it upward", "skill": "Rotate", "language_memory": "The robot successfully retrieved the yuzu oolong tea from the refrigerated cabinet and placed it into the shopping cart."}], "detailed_task_instruction": ["Retrieve the yuzu oolong tea from the refrigerated cabinet by picking it up, rotating your waist to the right and tilting downward, then placing the drink into the shopping cart."]}
{"task_id": "take_drink_to_cart", "episode_index": 131, "video_path": "take_drink_to_cart/videos/chunk-000/{video_key}/episode_000131.mp4", "tasks": ["Retrieve drink from freezer."], "length": 1654, "action_config": [{"start_frame": 30, "end_frame": 549, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 549, "end_frame": 999, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 999, "end_frame": 1179, "action_text": "rotate the waist to the right and tilt it downward", "skill": "Rotate", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 1179, "end_frame": 1251, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot has retrieved the yuzu oolong tea from the refrigerated cabinet and adjusted its orientation by rotating the waist to the right and tilting downward."}, {"start_frame": 1251, "end_frame": 1584, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot retrieved the yuzu oolong tea from the refrigerated cabinet and placed it into the shopping cart."}, {"start_frame": 1584, "end_frame": 1623, "action_text": "rotate the waist to the left and tilt it upward", "skill": "Rotate", "language_memory": "The robot successfully retrieved the yuzu oolong tea from the refrigerated cabinet and placed it into the shopping cart."}], "detailed_task_instruction": ["Retrieve the yuzu oolong tea from the refrigerated cabinet by picking it up, rotating your waist to the right and tilting downward, then placing the drink into the shopping cart."]}
{"task_id": "take_drink_to_cart", "episode_index": 132, "video_path": "take_drink_to_cart/videos/chunk-000/{video_key}/episode_000132.mp4", "tasks": ["Retrieve drink from freezer."], "length": 1170, "action_config": [{"start_frame": 12, "end_frame": 216, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 216, "end_frame": 406, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 406, "end_frame": 510, "action_text": "rotate the waist to the right and tilt it downward", "skill": "Rotate", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 510, "end_frame": 635, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot has retrieved the yuzu oolong tea from the refrigerated cabinet and adjusted its orientation by rotating the waist to the right and tilting downward."}, {"start_frame": 635, "end_frame": 897, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot retrieved the yuzu oolong tea from the refrigerated cabinet and placed it into the shopping cart."}, {"start_frame": 897, "end_frame": 945, "action_text": "rotate the waist to the left and tilt it upward", "skill": "Rotate", "language_memory": "The robot successfully retrieved the yuzu oolong tea from the refrigerated cabinet and placed it into the shopping cart."}], "detailed_task_instruction": ["Retrieve the yuzu oolong tea from the refrigerated cabinet by picking it up, rotating your waist to the right and tilting downward, then placing the drink into the shopping cart."]}
{"task_id": "take_drink_to_cart", "episode_index": 133, "video_path": "take_drink_to_cart/videos/chunk-000/{video_key}/episode_000133.mp4", "tasks": ["Retrieve drink from freezer."], "length": 1569, "action_config": [{"start_frame": 32, "end_frame": 600, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 600, "end_frame": 1032, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 1032, "end_frame": 1203, "action_text": "rotate the waist to the right and tilt it downward", "skill": "Rotate", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 1203, "end_frame": 1269, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot has retrieved the yuzu oolong tea from the refrigerated cabinet and adjusted its orientation by rotating the waist to the right and tilting downward."}, {"start_frame": 1269, "end_frame": 1512, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot retrieved the yuzu oolong tea from the refrigerated cabinet and placed it into the shopping cart."}, {"start_frame": 1512, "end_frame": 1548, "action_text": "rotate the waist to the left and tilt it upward", "skill": "Rotate", "language_memory": "The robot successfully retrieved the yuzu oolong tea from the refrigerated cabinet and placed it into the shopping cart."}], "detailed_task_instruction": ["Retrieve the yuzu oolong tea from the refrigerated cabinet by picking it up, rotating your waist to the right and tilting downward, then placing the drink into the shopping cart."]}
{"task_id": "take_drink_to_cart", "episode_index": 134, "video_path": "take_drink_to_cart/videos/chunk-000/{video_key}/episode_000134.mp4", "tasks": ["Retrieve drink from freezer."], "length": 1369, "action_config": [{"start_frame": 15, "end_frame": 319, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 319, "end_frame": 648, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 648, "end_frame": 861, "action_text": "rotate the waist to the right and tilt it downward", "skill": "Rotate", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 861, "end_frame": 924, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot has retrieved the yuzu oolong tea from the refrigerated cabinet and adjusted its orientation by rotating the waist to the right and tilting downward."}, {"start_frame": 924, "end_frame": 1269, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot retrieved the yuzu oolong tea from the refrigerated cabinet and placed it into the shopping cart."}, {"start_frame": 1269, "end_frame": 1316, "action_text": "rotate the waist to the left and tilt it upward", "skill": "Rotate", "language_memory": "The robot successfully retrieved the yuzu oolong tea from the refrigerated cabinet and placed it into the shopping cart."}], "detailed_task_instruction": ["Retrieve the yuzu oolong tea from the refrigerated cabinet by picking it up, rotating your waist to the right and tilting downward, then placing the drink into the shopping cart."]}
{"task_id": "take_drink_to_cart", "episode_index": 135, "video_path": "take_drink_to_cart/videos/chunk-000/{video_key}/episode_000135.mp4", "tasks": ["Retrieve drink from freezer."], "length": 1257, "action_config": [{"start_frame": 14, "end_frame": 401, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 401, "end_frame": 801, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 801, "end_frame": 970, "action_text": "rotate the waist to the right and tilt it downward", "skill": "Rotate", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 970, "end_frame": 1023, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot has retrieved the yuzu oolong tea from the refrigerated cabinet and adjusted its orientation by rotating the waist to the right and tilting downward."}, {"start_frame": 1023, "end_frame": 1187, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot retrieved the yuzu oolong tea from the refrigerated cabinet and placed it into the shopping cart."}, {"start_frame": 1187, "end_frame": 1230, "action_text": "rotate the waist to the left and tilt it upward", "skill": "Rotate", "language_memory": "The robot successfully retrieved the yuzu oolong tea from the refrigerated cabinet and placed it into the shopping cart."}], "detailed_task_instruction": ["Retrieve the yuzu oolong tea from the refrigerated cabinet by picking it up, rotating your waist to the right and tilting downward, then placing the drink into the shopping cart."]}
{"task_id": "take_drink_to_cart", "episode_index": 136, "video_path": "take_drink_to_cart/videos/chunk-000/{video_key}/episode_000136.mp4", "tasks": ["Retrieve drink from freezer."], "length": 1250, "action_config": [{"start_frame": 42, "end_frame": 371, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 371, "end_frame": 750, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 750, "end_frame": 886, "action_text": "rotate the waist to the right and tilt it downward", "skill": "Rotate", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 886, "end_frame": 943, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot has retrieved the yuzu oolong tea from the refrigerated cabinet and adjusted its orientation by rotating the waist to the right and tilting downward."}, {"start_frame": 943, "end_frame": 1192, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot retrieved the yuzu oolong tea from the refrigerated cabinet and placed it into the shopping cart."}, {"start_frame": 1192, "end_frame": 1233, "action_text": "rotate the waist to the left and tilt it upward", "skill": "Rotate", "language_memory": "The robot successfully retrieved the yuzu oolong tea from the refrigerated cabinet and placed it into the shopping cart."}], "detailed_task_instruction": ["Retrieve the yuzu oolong tea from the refrigerated cabinet by picking it up, rotating your waist to the right and tilting downward, then placing the drink into the shopping cart."]}
{"task_id": "take_drink_to_cart", "episode_index": 137, "video_path": "take_drink_to_cart/videos/chunk-000/{video_key}/episode_000137.mp4", "tasks": ["Retrieve drink from freezer."], "length": 1553, "action_config": [{"start_frame": 30, "end_frame": 540, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 540, "end_frame": 993, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 993, "end_frame": 1194, "action_text": "rotate the waist to the right and tilt it downward", "skill": "Rotate", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 1194, "end_frame": 1260, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot has retrieved the yuzu oolong tea from the refrigerated cabinet and adjusted its orientation by rotating the waist to the right and tilting downward."}, {"start_frame": 1260, "end_frame": 1484, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot retrieved the yuzu oolong tea from the refrigerated cabinet and placed it into the shopping cart."}, {"start_frame": 1484, "end_frame": 1518, "action_text": "rotate the waist to the left and tilt it upward", "skill": "Rotate", "language_memory": "The robot successfully retrieved the yuzu oolong tea from the refrigerated cabinet and placed it into the shopping cart."}], "detailed_task_instruction": ["Retrieve the yuzu oolong tea from the refrigerated cabinet by picking it up, rotating your waist to the right and tilting downward, then placing the drink into the shopping cart."]}
{"task_id": "take_drink_to_cart", "episode_index": 138, "video_path": "take_drink_to_cart/videos/chunk-000/{video_key}/episode_000138.mp4", "tasks": ["Retrieve drink from freezer."], "length": 985, "action_config": [{"start_frame": 27, "end_frame": 267, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 267, "end_frame": 572, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 572, "end_frame": 686, "action_text": "rotate the waist to the right and tilt it downward", "skill": "Rotate", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 686, "end_frame": 729, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot has retrieved the yuzu oolong tea from the refrigerated cabinet and adjusted its orientation by rotating the waist to the right and tilting downward."}, {"start_frame": 729, "end_frame": 909, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot retrieved the yuzu oolong tea from the refrigerated cabinet and placed it into the shopping cart."}, {"start_frame": 909, "end_frame": 947, "action_text": "rotate the waist to the left and tilt it upward", "skill": "Rotate", "language_memory": "The robot successfully retrieved the yuzu oolong tea from the refrigerated cabinet and placed it into the shopping cart."}], "detailed_task_instruction": ["Retrieve the yuzu oolong tea from the refrigerated cabinet by picking it up, rotating your waist to the right and tilting downward, then placing the drink into the shopping cart."]}
{"task_id": "take_drink_to_cart", "episode_index": 139, "video_path": "take_drink_to_cart/videos/chunk-000/{video_key}/episode_000139.mp4", "tasks": ["Retrieve drink from freezer."], "length": 1216, "action_config": [{"start_frame": 21, "end_frame": 341, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 341, "end_frame": 666, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 666, "end_frame": 843, "action_text": "rotate the waist to the right and tilt it downward", "skill": "Rotate", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 843, "end_frame": 903, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot has retrieved the yuzu oolong tea from the refrigerated cabinet and adjusted its orientation by rotating the waist to the right and tilting downward."}, {"start_frame": 903, "end_frame": 1149, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot retrieved the yuzu oolong tea from the refrigerated cabinet and placed it into the shopping cart."}, {"start_frame": 1149, "end_frame": 1191, "action_text": "rotate the waist to the left and tilt it upward", "skill": "Rotate", "language_memory": "The robot successfully retrieved the yuzu oolong tea from the refrigerated cabinet and placed it into the shopping cart."}], "detailed_task_instruction": ["Retrieve the yuzu oolong tea from the refrigerated cabinet by picking it up, rotating your waist to the right and tilting downward, then placing the drink into the shopping cart."]}
{"task_id": "take_drink_to_cart", "episode_index": 140, "video_path": "take_drink_to_cart/videos/chunk-000/{video_key}/episode_000140.mp4", "tasks": ["Retrieve drink from freezer."], "length": 1234, "action_config": [{"start_frame": 18, "end_frame": 366, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 366, "end_frame": 738, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 738, "end_frame": 888, "action_text": "rotate the waist to the right and tilt it downward", "skill": "Rotate", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 888, "end_frame": 951, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot has retrieved the yuzu oolong tea from the refrigerated cabinet and adjusted its orientation by rotating the waist to the right and tilting downward."}, {"start_frame": 951, "end_frame": 1148, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot retrieved the yuzu oolong tea from the refrigerated cabinet and placed it into the shopping cart."}, {"start_frame": 1148, "end_frame": 1182, "action_text": "rotate the waist to the left and tilt it upward", "skill": "Rotate", "language_memory": "The robot successfully retrieved the yuzu oolong tea from the refrigerated cabinet and placed it into the shopping cart."}], "detailed_task_instruction": ["Retrieve the yuzu oolong tea from the refrigerated cabinet by picking it up, rotating your waist to the right and tilting downward, then placing the drink into the shopping cart."]}
{"task_id": "take_drink_to_cart", "episode_index": 141, "video_path": "take_drink_to_cart/videos/chunk-000/{video_key}/episode_000141.mp4", "tasks": ["Retrieve drink from freezer."], "length": 1242, "action_config": [{"start_frame": 15, "end_frame": 305, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 305, "end_frame": 649, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 649, "end_frame": 831, "action_text": "rotate the waist to the right and tilt it downward", "skill": "Rotate", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 831, "end_frame": 904, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot has retrieved the yuzu oolong tea from the refrigerated cabinet and adjusted its orientation by rotating the waist to the right and tilting downward."}, {"start_frame": 904, "end_frame": 1186, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot retrieved the yuzu oolong tea from the refrigerated cabinet and placed it into the shopping cart."}, {"start_frame": 1186, "end_frame": 1223, "action_text": "rotate the waist to the left and tilt it upward", "skill": "Rotate", "language_memory": "The robot successfully retrieved the yuzu oolong tea from the refrigerated cabinet and placed it into the shopping cart."}], "detailed_task_instruction": ["Retrieve the yuzu oolong tea from the refrigerated cabinet by picking it up, rotating your waist to the right and tilting downward, then placing the drink into the shopping cart."]}
{"task_id": "take_drink_to_cart", "episode_index": 142, "video_path": "take_drink_to_cart/videos/chunk-000/{video_key}/episode_000142.mp4", "tasks": ["Retrieve drink from freezer."], "length": 1432, "action_config": [{"start_frame": 20, "end_frame": 360, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 360, "end_frame": 801, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 801, "end_frame": 963, "action_text": "rotate the waist to the right and tilt it downward", "skill": "Rotate", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 963, "end_frame": 1028, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot has retrieved the yuzu oolong tea from the refrigerated cabinet and adjusted its orientation by rotating the waist to the right and tilting downward."}, {"start_frame": 1028, "end_frame": 1365, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot retrieved the yuzu oolong tea from the refrigerated cabinet and placed it into the shopping cart."}, {"start_frame": 1365, "end_frame": 1410, "action_text": "rotate the waist to the left and tilt it upward", "skill": "Rotate", "language_memory": "The robot successfully retrieved the yuzu oolong tea from the refrigerated cabinet and placed it into the shopping cart."}], "detailed_task_instruction": ["Retrieve the yuzu oolong tea from the refrigerated cabinet by picking it up, rotating your waist to the right and tilting downward, then placing the drink into the shopping cart."]}
{"task_id": "take_drink_to_cart", "episode_index": 143, "video_path": "take_drink_to_cart/videos/chunk-000/{video_key}/episode_000143.mp4", "tasks": ["Retrieve drink from freezer."], "length": 1543, "action_config": [{"start_frame": 30, "end_frame": 444, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 444, "end_frame": 908, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 908, "end_frame": 1131, "action_text": "rotate the waist to the right and tilt it downward", "skill": "Rotate", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 1131, "end_frame": 1197, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot has retrieved the yuzu oolong tea from the refrigerated cabinet and adjusted its orientation by rotating the waist to the right and tilting downward."}, {"start_frame": 1197, "end_frame": 1455, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot retrieved the yuzu oolong tea from the refrigerated cabinet and placed it into the shopping cart."}, {"start_frame": 1455, "end_frame": 1497, "action_text": "rotate the waist to the left and tilt it upward", "skill": "Rotate", "language_memory": "The robot successfully retrieved the yuzu oolong tea from the refrigerated cabinet and placed it into the shopping cart."}], "detailed_task_instruction": ["Retrieve the yuzu oolong tea from the refrigerated cabinet by picking it up, rotating your waist to the right and tilting downward, then placing the drink into the shopping cart."]}
{"task_id": "take_drink_to_cart", "episode_index": 144, "video_path": "take_drink_to_cart/videos/chunk-000/{video_key}/episode_000144.mp4", "tasks": ["Retrieve drink from freezer."], "length": 1308, "action_config": [{"start_frame": 23, "end_frame": 378, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 378, "end_frame": 729, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 729, "end_frame": 902, "action_text": "rotate the waist to the right and tilt it downward", "skill": "Rotate", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 902, "end_frame": 966, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot has retrieved the yuzu oolong tea from the refrigerated cabinet and adjusted its orientation by rotating the waist to the right and tilting downward."}, {"start_frame": 966, "end_frame": 1245, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot retrieved the yuzu oolong tea from the refrigerated cabinet and placed it into the shopping cart."}, {"start_frame": 1245, "end_frame": 1281, "action_text": "rotate the waist to the left and tilt it upward", "skill": "Rotate", "language_memory": "The robot successfully retrieved the yuzu oolong tea from the refrigerated cabinet and placed it into the shopping cart."}], "detailed_task_instruction": ["Retrieve the yuzu oolong tea from the refrigerated cabinet by picking it up, rotating your waist to the right and tilting downward, then placing the drink into the shopping cart."]}
{"task_id": "take_drink_to_cart", "episode_index": 145, "video_path": "take_drink_to_cart/videos/chunk-000/{video_key}/episode_000145.mp4", "tasks": ["Retrieve drink from freezer."], "length": 1299, "action_config": [{"start_frame": 20, "end_frame": 411, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 411, "end_frame": 681, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 681, "end_frame": 828, "action_text": "rotate the waist to the right and tilt it downward", "skill": "Rotate", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 828, "end_frame": 912, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot has retrieved the yuzu oolong tea from the refrigerated cabinet and adjusted its orientation by rotating the waist to the right and tilting downward."}, {"start_frame": 912, "end_frame": 1216, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot retrieved the yuzu oolong tea from the refrigerated cabinet and placed it into the shopping cart."}, {"start_frame": 1216, "end_frame": 1263, "action_text": "rotate the waist to the left and tilt it upward", "skill": "Rotate", "language_memory": "The robot successfully retrieved the yuzu oolong tea from the refrigerated cabinet and placed it into the shopping cart."}], "detailed_task_instruction": ["Retrieve the yuzu oolong tea from the refrigerated cabinet by picking it up, rotating your waist to the right and tilting downward, then placing the drink into the shopping cart."]}
{"task_id": "take_drink_to_cart", "episode_index": 146, "video_path": "take_drink_to_cart/videos/chunk-000/{video_key}/episode_000146.mp4", "tasks": ["Retrieve drink from freezer."], "length": 1177, "action_config": [{"start_frame": 0, "end_frame": 419, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 419, "end_frame": 702, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 702, "end_frame": 874, "action_text": "rotate the waist to the right and tilt it downward", "skill": "Rotate", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 874, "end_frame": 968, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot has retrieved the yuzu oolong tea from the refrigerated cabinet and adjusted its orientation by rotating the waist to the right and tilting downward."}, {"start_frame": 968, "end_frame": 1161, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot retrieved the yuzu oolong tea from the refrigerated cabinet and placed it into the shopping cart."}], "detailed_task_instruction": ["Retrieve the yuzu oolong tea from the refrigerated cabinet by picking it up, rotating your waist to the right while tilting downward, and then placing the drink into the shopping cart."]}
{"task_id": "take_drink_to_cart", "episode_index": 147, "video_path": "take_drink_to_cart/videos/chunk-000/{video_key}/episode_000147.mp4", "tasks": ["Retrieve drink from freezer."], "length": 1140, "action_config": [{"start_frame": 0, "end_frame": 366, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 366, "end_frame": 690, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 690, "end_frame": 846, "action_text": "rotate the waist to the right and tilt it downward", "skill": "Rotate", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 846, "end_frame": 912, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot has retrieved the yuzu oolong tea from the refrigerated cabinet and adjusted its orientation by rotating the waist to the right and tilting downward."}, {"start_frame": 912, "end_frame": 1104, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot retrieved the yuzu oolong tea from the refrigerated cabinet and placed it into the shopping cart."}], "detailed_task_instruction": ["Retrieve the yuzu oolong tea from the refrigerated cabinet by picking it up, rotating your waist to the right while tilting downward, and then placing the drink into the shopping cart."]}
{"task_id": "take_drink_to_cart", "episode_index": 148, "video_path": "take_drink_to_cart/videos/chunk-000/{video_key}/episode_000148.mp4", "tasks": ["Retrieve drink from freezer."], "length": 1088, "action_config": [{"start_frame": 0, "end_frame": 293, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 293, "end_frame": 602, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 602, "end_frame": 813, "action_text": "rotate the waist to the right and tilt it downward", "skill": "Rotate", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 813, "end_frame": 885, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot has retrieved the yuzu oolong tea from the refrigerated cabinet and adjusted its orientation by rotating the waist to the right and tilting downward."}, {"start_frame": 885, "end_frame": 1045, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot retrieved the yuzu oolong tea from the refrigerated cabinet and placed it into the shopping cart."}], "detailed_task_instruction": ["Retrieve the yuzu oolong tea from the refrigerated cabinet by picking it up, rotating your waist to the right while tilting downward, and then placing the drink into the shopping cart."]}
{"task_id": "take_drink_to_cart", "episode_index": 149, "video_path": "take_drink_to_cart/videos/chunk-000/{video_key}/episode_000149.mp4", "tasks": ["Retrieve drink from freezer."], "length": 1210, "action_config": [{"start_frame": 0, "end_frame": 428, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 428, "end_frame": 744, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 744, "end_frame": 921, "action_text": "rotate the waist to the right and tilt it downward", "skill": "Rotate", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 921, "end_frame": 991, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot has retrieved the yuzu oolong tea from the refrigerated cabinet and adjusted its orientation by rotating the waist to the right and tilting downward."}, {"start_frame": 991, "end_frame": 1188, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot retrieved the yuzu oolong tea from the refrigerated cabinet and placed it into the shopping cart."}], "detailed_task_instruction": ["Retrieve the yuzu oolong tea from the refrigerated cabinet by picking it up, rotating your waist to the right while tilting downward, and then placing the drink into the shopping cart."]}
{"task_id": "take_drink_to_cart", "episode_index": 150, "video_path": "take_drink_to_cart/videos/chunk-000/{video_key}/episode_000150.mp4", "tasks": ["Retrieve drink from freezer."], "length": 1269, "action_config": [{"start_frame": 0, "end_frame": 486, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 486, "end_frame": 718, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 718, "end_frame": 942, "action_text": "rotate the waist to the right and tilt it downward", "skill": "Rotate", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 942, "end_frame": 1041, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot has retrieved the yuzu oolong tea from the refrigerated cabinet and adjusted its orientation by rotating the waist to the right and tilting downward."}, {"start_frame": 1041, "end_frame": 1247, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot retrieved the yuzu oolong tea from the refrigerated cabinet and placed it into the shopping cart."}], "detailed_task_instruction": ["Retrieve the yuzu oolong tea from the refrigerated cabinet by picking it up, rotating your waist to the right while tilting downward, and then placing the drink into the shopping cart."]}
{"task_id": "take_drink_to_cart", "episode_index": 151, "video_path": "take_drink_to_cart/videos/chunk-000/{video_key}/episode_000151.mp4", "tasks": ["Retrieve drink from freezer."], "length": 1184, "action_config": [{"start_frame": 0, "end_frame": 393, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 393, "end_frame": 661, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 661, "end_frame": 885, "action_text": "rotate the waist to the right and tilt it downward", "skill": "Rotate", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 885, "end_frame": 972, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot has retrieved the yuzu oolong tea from the refrigerated cabinet and adjusted its orientation by rotating the waist to the right and tilting downward."}, {"start_frame": 972, "end_frame": 1158, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot retrieved the yuzu oolong tea from the refrigerated cabinet and placed it into the shopping cart."}], "detailed_task_instruction": ["Retrieve the yuzu oolong tea from the refrigerated cabinet by picking it up, rotating your waist to the right while tilting downward, and then placing the drink into the shopping cart."]}
{"task_id": "take_drink_to_cart", "episode_index": 152, "video_path": "take_drink_to_cart/videos/chunk-000/{video_key}/episode_000152.mp4", "tasks": ["Retrieve drink from freezer."], "length": 1023, "action_config": [{"start_frame": 0, "end_frame": 354, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 354, "end_frame": 598, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 598, "end_frame": 721, "action_text": "rotate the waist to the right and tilt it downward", "skill": "Rotate", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 721, "end_frame": 795, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot has retrieved the yuzu oolong tea from the refrigerated cabinet and adjusted its orientation by rotating the waist to the right and tilting downward."}, {"start_frame": 795, "end_frame": 1009, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot retrieved the yuzu oolong tea from the refrigerated cabinet and placed it into the shopping cart."}], "detailed_task_instruction": ["Retrieve the yuzu oolong tea from the refrigerated cabinet by picking it up, rotating your waist to the right while tilting downward, and then placing the drink into the shopping cart."]}
{"task_id": "take_drink_to_cart", "episode_index": 153, "video_path": "take_drink_to_cart/videos/chunk-000/{video_key}/episode_000153.mp4", "tasks": ["Retrieve drink from freezer."], "length": 1044, "action_config": [{"start_frame": 0, "end_frame": 346, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 346, "end_frame": 598, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 598, "end_frame": 756, "action_text": "rotate the waist to the right and tilt it downward", "skill": "Rotate", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 756, "end_frame": 871, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot has retrieved the yuzu oolong tea from the refrigerated cabinet and adjusted its orientation by rotating the waist to the right and tilting downward."}, {"start_frame": 871, "end_frame": 1026, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot retrieved the yuzu oolong tea from the refrigerated cabinet and placed it into the shopping cart."}], "detailed_task_instruction": ["Retrieve the yuzu oolong tea from the refrigerated cabinet by picking it up, rotating your waist to the right while tilting downward, and then placing the drink into the shopping cart."]}
{"task_id": "take_drink_to_cart", "episode_index": 154, "video_path": "take_drink_to_cart/videos/chunk-000/{video_key}/episode_000154.mp4", "tasks": ["Retrieve drink from freezer."], "length": 1251, "action_config": [{"start_frame": 0, "end_frame": 384, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 384, "end_frame": 702, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 702, "end_frame": 885, "action_text": "rotate the waist to the right and tilt it downward", "skill": "Rotate", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 885, "end_frame": 988, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot has retrieved the yuzu oolong tea from the refrigerated cabinet and adjusted its orientation by rotating the waist to the right and tilting downward."}, {"start_frame": 988, "end_frame": 1194, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot retrieved the yuzu oolong tea from the refrigerated cabinet and placed it into the shopping cart."}], "detailed_task_instruction": ["Retrieve the yuzu oolong tea from the refrigerated cabinet by picking it up, rotating your waist to the right while tilting downward, and then placing the drink into the shopping cart."]}
{"task_id": "take_drink_to_cart", "episode_index": 155, "video_path": "take_drink_to_cart/videos/chunk-000/{video_key}/episode_000155.mp4", "tasks": ["Retrieve drink from freezer."], "length": 1153, "action_config": [{"start_frame": 0, "end_frame": 352, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 352, "end_frame": 627, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 627, "end_frame": 856, "action_text": "rotate the waist to the right and tilt it downward", "skill": "Rotate", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 856, "end_frame": 939, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot has retrieved the yuzu oolong tea from the refrigerated cabinet and adjusted its orientation by rotating the waist to the right and tilting downward."}, {"start_frame": 939, "end_frame": 1134, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot retrieved the yuzu oolong tea from the refrigerated cabinet and placed it into the shopping cart."}], "detailed_task_instruction": ["Retrieve the yuzu oolong tea from the refrigerated cabinet by picking it up, rotating your waist to the right while tilting downward, and then placing the drink into the shopping cart."]}
{"task_id": "take_drink_to_cart", "episode_index": 156, "video_path": "take_drink_to_cart/videos/chunk-000/{video_key}/episode_000156.mp4", "tasks": ["Retrieve drink from freezer."], "length": 990, "action_config": [{"start_frame": 0, "end_frame": 267, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 267, "end_frame": 537, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 537, "end_frame": 745, "action_text": "rotate the waist to the right and tilt it downward", "skill": "Rotate", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 745, "end_frame": 815, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot has retrieved the yuzu oolong tea from the refrigerated cabinet and adjusted its orientation by rotating the waist to the right and tilting downward."}, {"start_frame": 815, "end_frame": 979, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot retrieved the yuzu oolong tea from the refrigerated cabinet and placed it into the shopping cart."}], "detailed_task_instruction": ["Retrieve the yuzu oolong tea from the refrigerated cabinet by picking it up, rotating your waist to the right while tilting downward, and then placing the drink into the shopping cart."]}
{"task_id": "take_drink_to_cart", "episode_index": 157, "video_path": "take_drink_to_cart/videos/chunk-000/{video_key}/episode_000157.mp4", "tasks": ["Retrieve drink from freezer."], "length": 1314, "action_config": [{"start_frame": 0, "end_frame": 438, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 438, "end_frame": 736, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 736, "end_frame": 942, "action_text": "rotate the waist to the right and tilt it downward", "skill": "Rotate", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 942, "end_frame": 1027, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot has retrieved the yuzu oolong tea from the refrigerated cabinet and adjusted its orientation by rotating the waist to the right and tilting downward."}, {"start_frame": 1027, "end_frame": 1302, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot retrieved the yuzu oolong tea from the refrigerated cabinet and placed it into the shopping cart."}], "detailed_task_instruction": ["Retrieve the yuzu oolong tea from the refrigerated cabinet by picking it up, rotating your waist to the right while tilting downward, and then placing the drink into the shopping cart."]}
{"task_id": "take_drink_to_cart", "episode_index": 158, "video_path": "take_drink_to_cart/videos/chunk-000/{video_key}/episode_000158.mp4", "tasks": ["Retrieve drink from freezer."], "length": 1145, "action_config": [{"start_frame": 0, "end_frame": 408, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 408, "end_frame": 695, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 695, "end_frame": 889, "action_text": "rotate the waist to the right and tilt it downward", "skill": "Rotate", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 889, "end_frame": 1014, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot has retrieved the yuzu oolong tea from the refrigerated cabinet and adjusted its orientation by rotating the waist to the right and tilting downward."}, {"start_frame": 1014, "end_frame": 1132, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot retrieved the yuzu oolong tea from the refrigerated cabinet and placed it into the shopping cart."}], "detailed_task_instruction": ["Retrieve the yuzu oolong tea from the refrigerated cabinet by picking it up, rotating your waist to the right while tilting downward, and then placing the drink into the shopping cart."]}
{"task_id": "take_drink_to_cart", "episode_index": 159, "video_path": "take_drink_to_cart/videos/chunk-000/{video_key}/episode_000159.mp4", "tasks": ["Retrieve drink from freezer."], "length": 1151, "action_config": [{"start_frame": 0, "end_frame": 348, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 348, "end_frame": 631, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 631, "end_frame": 777, "action_text": "rotate the waist to the right and tilt it downward", "skill": "Rotate", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 777, "end_frame": 837, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot has retrieved the yuzu oolong tea from the refrigerated cabinet and adjusted its orientation by rotating the waist to the right and tilting downward."}, {"start_frame": 837, "end_frame": 1137, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot retrieved the yuzu oolong tea from the refrigerated cabinet and placed it into the shopping cart."}], "detailed_task_instruction": ["Retrieve the yuzu oolong tea from the refrigerated cabinet by picking it up, rotating your waist to the right while tilting downward, and then placing the drink into the shopping cart."]}
{"task_id": "take_drink_to_cart", "episode_index": 160, "video_path": "take_drink_to_cart/videos/chunk-000/{video_key}/episode_000160.mp4", "tasks": ["Retrieve drink from freezer."], "length": 1293, "action_config": [{"start_frame": 0, "end_frame": 393, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 393, "end_frame": 735, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 735, "end_frame": 939, "action_text": "rotate the waist to the right and tilt it downward", "skill": "Rotate", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 939, "end_frame": 1020, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot has retrieved the yuzu oolong tea from the refrigerated cabinet and adjusted its orientation by rotating the waist to the right and tilting downward."}, {"start_frame": 1020, "end_frame": 1160, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot retrieved the yuzu oolong tea from the refrigerated cabinet and placed it into the shopping cart."}], "detailed_task_instruction": ["Retrieve the yuzu oolong tea from the refrigerated cabinet by picking it up, rotating your waist to the right while tilting downward, and then placing the drink into the shopping cart."]}
{"task_id": "take_drink_to_cart", "episode_index": 161, "video_path": "take_drink_to_cart/videos/chunk-000/{video_key}/episode_000161.mp4", "tasks": ["Retrieve drink from freezer."], "length": 1175, "action_config": [{"start_frame": 0, "end_frame": 201, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 201, "end_frame": 591, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 591, "end_frame": 833, "action_text": "rotate the waist to the right and tilt it downward", "skill": "Rotate", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 833, "end_frame": 908, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot has retrieved the yuzu oolong tea from the refrigerated cabinet and adjusted its orientation by rotating the waist to the right and tilting downward."}, {"start_frame": 908, "end_frame": 990, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot retrieved the yuzu oolong tea from the refrigerated cabinet and placed it into the shopping cart."}], "detailed_task_instruction": ["Retrieve the yuzu oolong tea from the refrigerated cabinet by picking it up, rotating your waist to the right while tilting downward, and then placing the drink into the shopping cart."]}
{"task_id": "take_drink_to_cart", "episode_index": 162, "video_path": "take_drink_to_cart/videos/chunk-000/{video_key}/episode_000162.mp4", "tasks": ["Retrieve drink from freezer."], "length": 1085, "action_config": [{"start_frame": 0, "end_frame": 303, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 303, "end_frame": 645, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 645, "end_frame": 840, "action_text": "rotate the waist to the right and tilt it downward", "skill": "Rotate", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 840, "end_frame": 927, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot has retrieved the yuzu oolong tea from the refrigerated cabinet and adjusted its orientation by rotating the waist to the right and tilting downward."}, {"start_frame": 927, "end_frame": 978, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot retrieved the yuzu oolong tea from the refrigerated cabinet and placed it into the shopping cart."}], "detailed_task_instruction": ["Retrieve the yuzu oolong tea from the refrigerated cabinet by picking it up, rotating your waist to the right while tilting downward, and then placing the drink into the shopping cart."]}
{"task_id": "take_drink_to_cart", "episode_index": 163, "video_path": "take_drink_to_cart/videos/chunk-000/{video_key}/episode_000163.mp4", "tasks": ["Retrieve drink from freezer."], "length": 1093, "action_config": [{"start_frame": 0, "end_frame": 318, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 318, "end_frame": 636, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 636, "end_frame": 825, "action_text": "rotate the waist to the right and tilt it downward", "skill": "Rotate", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 825, "end_frame": 888, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot has retrieved the yuzu oolong tea from the refrigerated cabinet and adjusted its orientation by rotating the waist to the right and tilting downward."}, {"start_frame": 888, "end_frame": 959, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot retrieved the yuzu oolong tea from the refrigerated cabinet and placed it into the shopping cart."}], "detailed_task_instruction": ["Retrieve the yuzu oolong tea from the refrigerated cabinet by picking it up, rotating your waist to the right while tilting downward, and then placing the drink into the shopping cart."]}
{"task_id": "take_drink_to_cart", "episode_index": 164, "video_path": "take_drink_to_cart/videos/chunk-000/{video_key}/episode_000164.mp4", "tasks": ["Retrieve drink from freezer."], "length": 981, "action_config": [{"start_frame": 0, "end_frame": 225, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 225, "end_frame": 519, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 519, "end_frame": 747, "action_text": "rotate the waist to the right and tilt it downward", "skill": "Rotate", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 747, "end_frame": 812, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot has retrieved the yuzu oolong tea from the refrigerated cabinet and adjusted its orientation by rotating the waist to the right and tilting downward."}, {"start_frame": 812, "end_frame": 882, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot retrieved the yuzu oolong tea from the refrigerated cabinet and placed it into the shopping cart."}], "detailed_task_instruction": ["Retrieve the yuzu oolong tea from the refrigerated cabinet by picking it up, rotating your waist to the right while tilting downward, and then placing the drink into the shopping cart."]}
{"task_id": "take_drink_to_cart", "episode_index": 165, "video_path": "take_drink_to_cart/videos/chunk-000/{video_key}/episode_000165.mp4", "tasks": ["Retrieve drink from freezer."], "length": 1270, "action_config": [{"start_frame": 0, "end_frame": 429, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 429, "end_frame": 743, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 743, "end_frame": 969, "action_text": "rotate the waist to the right and tilt it downward", "skill": "Rotate", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 969, "end_frame": 1056, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot has retrieved the yuzu oolong tea from the refrigerated cabinet and adjusted its orientation by rotating the waist to the right and tilting downward."}, {"start_frame": 1056, "end_frame": 1270, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot retrieved the yuzu oolong tea from the refrigerated cabinet and placed it into the shopping cart."}], "detailed_task_instruction": ["Retrieve the yuzu oolong tea from the refrigerated cabinet by picking it up, rotating your waist to the right while tilting downward, and then placing the drink into the shopping cart."]}
{"task_id": "take_drink_to_cart", "episode_index": 166, "video_path": "take_drink_to_cart/videos/chunk-000/{video_key}/episode_000166.mp4", "tasks": ["Retrieve drink from freezer."], "length": 1149, "action_config": [{"start_frame": 0, "end_frame": 361, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 361, "end_frame": 682, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 682, "end_frame": 852, "action_text": "rotate the waist to the right and tilt it downward", "skill": "Rotate", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 852, "end_frame": 920, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot has retrieved the yuzu oolong tea from the refrigerated cabinet and adjusted its orientation by rotating the waist to the right and tilting downward."}, {"start_frame": 920, "end_frame": 1125, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot retrieved the yuzu oolong tea from the refrigerated cabinet and placed it into the shopping cart."}], "detailed_task_instruction": ["Retrieve the yuzu oolong tea from the refrigerated cabinet by picking it up, rotating your waist to the right while tilting downward, and then placing the drink into the shopping cart."]}
{"task_id": "take_drink_to_cart", "episode_index": 167, "video_path": "take_drink_to_cart/videos/chunk-000/{video_key}/episode_000167.mp4", "tasks": ["Retrieve drink from freezer."], "length": 1157, "action_config": [{"start_frame": 0, "end_frame": 343, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 343, "end_frame": 654, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 654, "end_frame": 848, "action_text": "rotate the waist to the right and tilt it downward", "skill": "Rotate", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 848, "end_frame": 945, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot has retrieved the yuzu oolong tea from the refrigerated cabinet and adjusted its orientation by rotating the waist to the right and tilting downward."}, {"start_frame": 945, "end_frame": 1134, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot retrieved the yuzu oolong tea from the refrigerated cabinet and placed it into the shopping cart."}], "detailed_task_instruction": ["Retrieve the yuzu oolong tea from the refrigerated cabinet by picking it up, rotating your waist to the right while tilting downward, and then placing the drink into the shopping cart."]}
{"task_id": "take_drink_to_cart", "episode_index": 168, "video_path": "take_drink_to_cart/videos/chunk-000/{video_key}/episode_000168.mp4", "tasks": ["Retrieve drink from freezer."], "length": 999, "action_config": [{"start_frame": 0, "end_frame": 245, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 245, "end_frame": 491, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 491, "end_frame": 741, "action_text": "rotate the waist to the right and tilt it downward", "skill": "Rotate", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 741, "end_frame": 813, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot has retrieved the yuzu oolong tea from the refrigerated cabinet and adjusted its orientation by rotating the waist to the right and tilting downward."}, {"start_frame": 813, "end_frame": 885, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot retrieved the yuzu oolong tea from the refrigerated cabinet and placed it into the shopping cart."}], "detailed_task_instruction": ["Retrieve the yuzu oolong tea from the refrigerated cabinet by picking it up, rotating your waist to the right while tilting downward, and then placing the drink into the shopping cart."]}
{"task_id": "take_drink_to_cart", "episode_index": 169, "video_path": "take_drink_to_cart/videos/chunk-000/{video_key}/episode_000169.mp4", "tasks": ["Retrieve drink from freezer."], "length": 1069, "action_config": [{"start_frame": 0, "end_frame": 288, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 288, "end_frame": 642, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 642, "end_frame": 823, "action_text": "rotate the waist to the right and tilt it downward", "skill": "Rotate", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 823, "end_frame": 876, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot has retrieved the yuzu oolong tea from the refrigerated cabinet and adjusted its orientation by rotating the waist to the right and tilting downward."}, {"start_frame": 876, "end_frame": 939, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot retrieved the yuzu oolong tea from the refrigerated cabinet and placed it into the shopping cart."}], "detailed_task_instruction": ["Retrieve the yuzu oolong tea from the refrigerated cabinet by picking it up, rotating your waist to the right while tilting downward, and then placing the drink into the shopping cart."]}
{"task_id": "take_drink_to_cart", "episode_index": 170, "video_path": "take_drink_to_cart/videos/chunk-000/{video_key}/episode_000170.mp4", "tasks": ["Retrieve drink from freezer."], "length": 1129, "action_config": [{"start_frame": 0, "end_frame": 381, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 381, "end_frame": 687, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 687, "end_frame": 899, "action_text": "rotate the waist to the right and tilt it downward", "skill": "Rotate", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 899, "end_frame": 971, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot has retrieved the yuzu oolong tea from the refrigerated cabinet and adjusted its orientation by rotating the waist to the right and tilting downward."}, {"start_frame": 971, "end_frame": 1032, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot retrieved the yuzu oolong tea from the refrigerated cabinet and placed it into the shopping cart."}], "detailed_task_instruction": ["Retrieve the yuzu oolong tea from the refrigerated cabinet by picking it up, rotating your waist to the right while tilting downward, and then placing the drink into the shopping cart."]}
{"task_id": "take_drink_to_cart", "episode_index": 171, "video_path": "take_drink_to_cart/videos/chunk-000/{video_key}/episode_000171.mp4", "tasks": ["Retrieve drink from freezer."], "length": 1207, "action_config": [{"start_frame": 0, "end_frame": 294, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 294, "end_frame": 630, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 630, "end_frame": 867, "action_text": "rotate the waist to the right and tilt it downward", "skill": "Rotate", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 867, "end_frame": 975, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot has retrieved the yuzu oolong tea from the refrigerated cabinet and adjusted its orientation by rotating the waist to the right and tilting downward."}, {"start_frame": 975, "end_frame": 1065, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot retrieved the yuzu oolong tea from the refrigerated cabinet and placed it into the shopping cart."}], "detailed_task_instruction": ["Retrieve the yuzu oolong tea from the refrigerated cabinet by picking it up, rotating your waist to the right while tilting downward, and then placing the drink into the shopping cart."]}
{"task_id": "take_drink_to_cart", "episode_index": 172, "video_path": "take_drink_to_cart/videos/chunk-000/{video_key}/episode_000172.mp4", "tasks": ["Retrieve drink from freezer."], "length": 1292, "action_config": [{"start_frame": 0, "end_frame": 357, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 357, "end_frame": 689, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 689, "end_frame": 924, "action_text": "rotate the waist to the right and tilt it downward", "skill": "Rotate", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 924, "end_frame": 1029, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot has retrieved the yuzu oolong tea from the refrigerated cabinet and adjusted its orientation by rotating the waist to the right and tilting downward."}, {"start_frame": 1029, "end_frame": 1128, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot retrieved the yuzu oolong tea from the refrigerated cabinet and placed it into the shopping cart."}], "detailed_task_instruction": ["Retrieve the yuzu oolong tea from the refrigerated cabinet by picking it up, rotating your waist to the right while tilting downward, and then placing the drink into the shopping cart."]}
{"task_id": "take_drink_to_cart", "episode_index": 173, "video_path": "take_drink_to_cart/videos/chunk-000/{video_key}/episode_000173.mp4", "tasks": ["Retrieve drink from freezer."], "length": 1022, "action_config": [{"start_frame": 0, "end_frame": 282, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 282, "end_frame": 599, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 599, "end_frame": 774, "action_text": "rotate the waist to the right and tilt it downward", "skill": "Rotate", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 774, "end_frame": 834, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot has retrieved the yuzu oolong tea from the refrigerated cabinet and adjusted its orientation by rotating the waist to the right and tilting downward."}, {"start_frame": 834, "end_frame": 908, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot retrieved the yuzu oolong tea from the refrigerated cabinet and placed it into the shopping cart."}], "detailed_task_instruction": ["Retrieve the yuzu oolong tea from the refrigerated cabinet by picking it up, rotating your waist to the right while tilting downward, and then placing the drink into the shopping cart."]}
{"task_id": "take_drink_to_cart", "episode_index": 174, "video_path": "take_drink_to_cart/videos/chunk-000/{video_key}/episode_000174.mp4", "tasks": ["Retrieve drink from freezer."], "length": 1269, "action_config": [{"start_frame": 0, "end_frame": 420, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 420, "end_frame": 717, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 717, "end_frame": 909, "action_text": "rotate the waist to the right and tilt it downward", "skill": "Rotate", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 909, "end_frame": 1012, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot has retrieved the yuzu oolong tea from the refrigerated cabinet and adjusted its orientation by rotating the waist to the right and tilting downward."}, {"start_frame": 1012, "end_frame": 1254, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot retrieved the yuzu oolong tea from the refrigerated cabinet and placed it into the shopping cart."}], "detailed_task_instruction": ["Retrieve the yuzu oolong tea from the refrigerated cabinet by picking it up, rotating your waist to the right while tilting downward, and then placing the drink into the shopping cart."]}
{"task_id": "take_drink_to_cart", "episode_index": 175, "video_path": "take_drink_to_cart/videos/chunk-000/{video_key}/episode_000175.mp4", "tasks": ["Retrieve drink from freezer."], "length": 1309, "action_config": [{"start_frame": 0, "end_frame": 465, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 465, "end_frame": 768, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 768, "end_frame": 957, "action_text": "rotate the waist to the right and tilt it downward", "skill": "Rotate", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 957, "end_frame": 1048, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot has retrieved the yuzu oolong tea from the refrigerated cabinet and adjusted its orientation by rotating the waist to the right and tilting downward."}, {"start_frame": 1048, "end_frame": 1281, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot retrieved the yuzu oolong tea from the refrigerated cabinet and placed it into the shopping cart."}], "detailed_task_instruction": ["Retrieve the yuzu oolong tea from the refrigerated cabinet by picking it up, rotating your waist to the right while tilting downward, and then placing the drink into the shopping cart."]}
{"task_id": "take_drink_to_cart", "episode_index": 176, "video_path": "take_drink_to_cart/videos/chunk-000/{video_key}/episode_000176.mp4", "tasks": ["Retrieve drink from freezer."], "length": 1371, "action_config": [{"start_frame": 0, "end_frame": 462, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 462, "end_frame": 794, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 794, "end_frame": 1059, "action_text": "rotate the waist to the right and tilt it downward", "skill": "Rotate", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 1059, "end_frame": 1131, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot has retrieved the yuzu oolong tea from the refrigerated cabinet and adjusted its orientation by rotating the waist to the right and tilting downward."}, {"start_frame": 1131, "end_frame": 1224, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot retrieved the yuzu oolong tea from the refrigerated cabinet and placed it into the shopping cart."}], "detailed_task_instruction": ["Retrieve the yuzu oolong tea from the refrigerated cabinet by picking it up, rotating your waist to the right while tilting downward, and then placing the drink into the shopping cart."]}
{"task_id": "take_drink_to_cart", "episode_index": 177, "video_path": "take_drink_to_cart/videos/chunk-000/{video_key}/episode_000177.mp4", "tasks": ["Retrieve drink from freezer."], "length": 1278, "action_config": [{"start_frame": 0, "end_frame": 261, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 261, "end_frame": 623, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 623, "end_frame": 882, "action_text": "rotate the waist to the right and tilt it downward", "skill": "Rotate", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 882, "end_frame": 974, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot has retrieved the yuzu oolong tea from the refrigerated cabinet and adjusted its orientation by rotating the waist to the right and tilting downward."}, {"start_frame": 974, "end_frame": 1103, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot retrieved the yuzu oolong tea from the refrigerated cabinet and placed it into the shopping cart."}], "detailed_task_instruction": ["Retrieve the yuzu oolong tea from the refrigerated cabinet by picking it up, rotating your waist to the right while tilting downward, and then placing the drink into the shopping cart."]}
{"task_id": "take_drink_to_cart", "episode_index": 178, "video_path": "take_drink_to_cart/videos/chunk-000/{video_key}/episode_000178.mp4", "tasks": ["Retrieve drink from freezer."], "length": 1064, "action_config": [{"start_frame": 0, "end_frame": 243, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 243, "end_frame": 548, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 548, "end_frame": 744, "action_text": "rotate the waist to the right and tilt it downward", "skill": "Rotate", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 744, "end_frame": 836, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot has retrieved the yuzu oolong tea from the refrigerated cabinet and adjusted its orientation by rotating the waist to the right and tilting downward."}, {"start_frame": 836, "end_frame": 939, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot retrieved the yuzu oolong tea from the refrigerated cabinet and placed it into the shopping cart."}], "detailed_task_instruction": ["Retrieve the yuzu oolong tea from the refrigerated cabinet by picking it up, rotating your waist to the right while tilting downward, and then placing the drink into the shopping cart."]}
{"task_id": "take_drink_to_cart", "episode_index": 179, "video_path": "take_drink_to_cart/videos/chunk-000/{video_key}/episode_000179.mp4", "tasks": ["Retrieve drink from freezer."], "length": 1004, "action_config": [{"start_frame": 0, "end_frame": 288, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 288, "end_frame": 536, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 536, "end_frame": 753, "action_text": "rotate the waist to the right and tilt it downward", "skill": "Rotate", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 753, "end_frame": 814, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot has retrieved the yuzu oolong tea from the refrigerated cabinet and adjusted its orientation by rotating the waist to the right and tilting downward."}, {"start_frame": 814, "end_frame": 1004, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot retrieved the yuzu oolong tea from the refrigerated cabinet and placed it into the shopping cart."}], "detailed_task_instruction": ["Retrieve the yuzu oolong tea from the refrigerated cabinet by picking it up, rotating your waist to the right while tilting downward, and then placing the drink into the shopping cart."]}
{"task_id": "take_drink_to_cart", "episode_index": 180, "video_path": "take_drink_to_cart/videos/chunk-000/{video_key}/episode_000180.mp4", "tasks": ["Retrieve drink from freezer."], "length": 1127, "action_config": [{"start_frame": 0, "end_frame": 372, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 372, "end_frame": 693, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 693, "end_frame": 882, "action_text": "rotate the waist to the right and tilt it downward", "skill": "Rotate", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 882, "end_frame": 940, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot has retrieved the yuzu oolong tea from the refrigerated cabinet and adjusted its orientation by rotating the waist to the right and tilting downward."}, {"start_frame": 940, "end_frame": 1110, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot retrieved the yuzu oolong tea from the refrigerated cabinet and placed it into the shopping cart."}], "detailed_task_instruction": ["Retrieve the yuzu oolong tea from the refrigerated cabinet by picking it up, rotating your waist to the right while tilting downward, and then placing the drink into the shopping cart."]}
{"task_id": "take_drink_to_cart", "episode_index": 181, "video_path": "take_drink_to_cart/videos/chunk-000/{video_key}/episode_000181.mp4", "tasks": ["Retrieve drink from freezer."], "length": 1037, "action_config": [{"start_frame": 0, "end_frame": 301, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 301, "end_frame": 600, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 600, "end_frame": 790, "action_text": "rotate the waist to the right and tilt it downward", "skill": "Rotate", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 790, "end_frame": 855, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot has retrieved the yuzu oolong tea from the refrigerated cabinet and adjusted its orientation by rotating the waist to the right and tilting downward."}, {"start_frame": 855, "end_frame": 1022, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot retrieved the yuzu oolong tea from the refrigerated cabinet and placed it into the shopping cart."}], "detailed_task_instruction": ["Retrieve the yuzu oolong tea from the refrigerated cabinet by picking it up, rotating your waist to the right while tilting downward, and then placing the drink into the shopping cart."]}
{"task_id": "take_drink_to_cart", "episode_index": 182, "video_path": "take_drink_to_cart/videos/chunk-000/{video_key}/episode_000182.mp4", "tasks": ["Retrieve drink from freezer."], "length": 1313, "action_config": [{"start_frame": 0, "end_frame": 439, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 439, "end_frame": 745, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 745, "end_frame": 898, "action_text": "rotate the waist to the right and tilt it downward", "skill": "Rotate", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 898, "end_frame": 954, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot has retrieved the yuzu oolong tea from the refrigerated cabinet and adjusted its orientation by rotating the waist to the right and tilting downward."}, {"start_frame": 954, "end_frame": 1269, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot retrieved the yuzu oolong tea from the refrigerated cabinet and placed it into the shopping cart."}], "detailed_task_instruction": ["Retrieve the yuzu oolong tea from the refrigerated cabinet by picking it up, rotating your waist to the right while tilting downward, and then placing the drink into the shopping cart."]}
{"task_id": "take_drink_to_cart", "episode_index": 183, "video_path": "take_drink_to_cart/videos/chunk-000/{video_key}/episode_000183.mp4", "tasks": ["Retrieve drink from freezer."], "length": 1336, "action_config": [{"start_frame": 0, "end_frame": 483, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 483, "end_frame": 759, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 759, "end_frame": 953, "action_text": "rotate the waist to the right and tilt it downward", "skill": "Rotate", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 953, "end_frame": 1080, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot has retrieved the yuzu oolong tea from the refrigerated cabinet and adjusted its orientation by rotating the waist to the right and tilting downward."}, {"start_frame": 1080, "end_frame": 1317, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot retrieved the yuzu oolong tea from the refrigerated cabinet and placed it into the shopping cart."}], "detailed_task_instruction": ["Retrieve the yuzu oolong tea from the refrigerated cabinet by picking it up, rotating your waist to the right while tilting downward, and then placing the drink into the shopping cart."]}
{"task_id": "take_drink_to_cart", "episode_index": 184, "video_path": "take_drink_to_cart/videos/chunk-000/{video_key}/episode_000184.mp4", "tasks": ["Retrieve drink from freezer."], "length": 983, "action_config": [{"start_frame": 0, "end_frame": 273, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 273, "end_frame": 538, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 538, "end_frame": 701, "action_text": "rotate the waist to the right and tilt it downward", "skill": "Rotate", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 701, "end_frame": 774, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot has retrieved the yuzu oolong tea from the refrigerated cabinet and adjusted its orientation by rotating the waist to the right and tilting downward."}, {"start_frame": 774, "end_frame": 968, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot retrieved the yuzu oolong tea from the refrigerated cabinet and placed it into the shopping cart."}], "detailed_task_instruction": ["Retrieve the yuzu oolong tea from the refrigerated cabinet by picking it up, rotating your waist to the right while tilting downward, and then placing the drink into the shopping cart."]}
{"task_id": "take_drink_to_cart", "episode_index": 185, "video_path": "take_drink_to_cart/videos/chunk-000/{video_key}/episode_000185.mp4", "tasks": ["Retrieve drink from freezer."], "length": 1003, "action_config": [{"start_frame": 0, "end_frame": 357, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 357, "end_frame": 628, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 628, "end_frame": 765, "action_text": "rotate the waist to the right and tilt it downward", "skill": "Rotate", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 765, "end_frame": 823, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot has retrieved the yuzu oolong tea from the refrigerated cabinet and adjusted its orientation by rotating the waist to the right and tilting downward."}, {"start_frame": 823, "end_frame": 978, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot retrieved the yuzu oolong tea from the refrigerated cabinet and placed it into the shopping cart."}], "detailed_task_instruction": ["Retrieve the yuzu oolong tea from the refrigerated cabinet by picking it up, rotating your waist to the right while tilting downward, and then placing the drink into the shopping cart."]}
{"task_id": "take_drink_to_cart", "episode_index": 186, "video_path": "take_drink_to_cart/videos/chunk-000/{video_key}/episode_000186.mp4", "tasks": ["Retrieve drink from freezer."], "length": 1170, "action_config": [{"start_frame": 0, "end_frame": 325, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 325, "end_frame": 633, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 633, "end_frame": 858, "action_text": "rotate the waist to the right and tilt it downward", "skill": "Rotate", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 858, "end_frame": 951, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot has retrieved the yuzu oolong tea from the refrigerated cabinet and adjusted its orientation by rotating the waist to the right and tilting downward."}, {"start_frame": 951, "end_frame": 1152, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot retrieved the yuzu oolong tea from the refrigerated cabinet and placed it into the shopping cart."}], "detailed_task_instruction": ["Retrieve the yuzu oolong tea from the refrigerated cabinet by picking it up, rotating your waist to the right while tilting downward, and then placing the drink into the shopping cart."]}
{"task_id": "take_drink_to_cart", "episode_index": 187, "video_path": "take_drink_to_cart/videos/chunk-000/{video_key}/episode_000187.mp4", "tasks": ["Retrieve drink from freezer."], "length": 1326, "action_config": [{"start_frame": 0, "end_frame": 428, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 428, "end_frame": 777, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 777, "end_frame": 999, "action_text": "rotate the waist to the right and tilt it downward", "skill": "Rotate", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 999, "end_frame": 1076, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot has retrieved the yuzu oolong tea from the refrigerated cabinet and adjusted its orientation by rotating the waist to the right and tilting downward."}, {"start_frame": 1076, "end_frame": 1293, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot retrieved the yuzu oolong tea from the refrigerated cabinet and placed it into the shopping cart."}], "detailed_task_instruction": ["Retrieve the yuzu oolong tea from the refrigerated cabinet by picking it up, rotating your waist to the right while tilting downward, and then placing the drink into the shopping cart."]}
{"task_id": "take_drink_to_cart", "episode_index": 188, "video_path": "take_drink_to_cart/videos/chunk-000/{video_key}/episode_000188.mp4", "tasks": ["Retrieve drink from freezer."], "length": 1123, "action_config": [{"start_frame": 0, "end_frame": 308, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 308, "end_frame": 600, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 600, "end_frame": 819, "action_text": "rotate the waist to the right and tilt it downward", "skill": "Rotate", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 819, "end_frame": 899, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot has retrieved the yuzu oolong tea from the refrigerated cabinet and adjusted its orientation by rotating the waist to the right and tilting downward."}, {"start_frame": 899, "end_frame": 1101, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot retrieved the yuzu oolong tea from the refrigerated cabinet and placed it into the shopping cart."}], "detailed_task_instruction": ["Retrieve the yuzu oolong tea from the refrigerated cabinet by picking it up, rotating your waist to the right while tilting downward, and then placing the drink into the shopping cart."]}
{"task_id": "take_drink_to_cart", "episode_index": 189, "video_path": "take_drink_to_cart/videos/chunk-000/{video_key}/episode_000189.mp4", "tasks": ["Retrieve drink from freezer."], "length": 1087, "action_config": [{"start_frame": 0, "end_frame": 384, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 384, "end_frame": 591, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 591, "end_frame": 826, "action_text": "rotate the waist to the right and tilt it downward", "skill": "Rotate", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 826, "end_frame": 897, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot has retrieved the yuzu oolong tea from the refrigerated cabinet and adjusted its orientation by rotating the waist to the right and tilting downward."}, {"start_frame": 897, "end_frame": 1068, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot retrieved the yuzu oolong tea from the refrigerated cabinet and placed it into the shopping cart."}], "detailed_task_instruction": ["Retrieve the yuzu oolong tea from the refrigerated cabinet by picking it up, rotating your waist to the right while tilting downward, and then placing the drink into the shopping cart."]}
{"task_id": "take_drink_to_cart", "episode_index": 190, "video_path": "take_drink_to_cart/videos/chunk-000/{video_key}/episode_000190.mp4", "tasks": ["Retrieve drink from freezer."], "length": 1103, "action_config": [{"start_frame": 0, "end_frame": 270, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 270, "end_frame": 555, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 555, "end_frame": 794, "action_text": "rotate the waist to the right and tilt it downward", "skill": "Rotate", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 794, "end_frame": 883, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot has retrieved the yuzu oolong tea from the refrigerated cabinet and adjusted its orientation by rotating the waist to the right and tilting downward."}, {"start_frame": 883, "end_frame": 968, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot retrieved the yuzu oolong tea from the refrigerated cabinet and placed it into the shopping cart."}], "detailed_task_instruction": ["Retrieve the yuzu oolong tea from the refrigerated cabinet by picking it up, rotating your waist to the right while tilting downward, and then placing the drink into the shopping cart."]}
{"task_id": "take_drink_to_cart", "episode_index": 191, "video_path": "take_drink_to_cart/videos/chunk-000/{video_key}/episode_000191.mp4", "tasks": ["Retrieve drink from freezer."], "length": 1005, "action_config": [{"start_frame": 0, "end_frame": 293, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 293, "end_frame": 540, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 540, "end_frame": 752, "action_text": "rotate the waist to the right and tilt it downward", "skill": "Rotate", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 752, "end_frame": 831, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot has retrieved the yuzu oolong tea from the refrigerated cabinet and adjusted its orientation by rotating the waist to the right and tilting downward."}, {"start_frame": 831, "end_frame": 896, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot retrieved the yuzu oolong tea from the refrigerated cabinet and placed it into the shopping cart."}], "detailed_task_instruction": ["Retrieve the yuzu oolong tea from the refrigerated cabinet by picking it up, rotating your waist to the right while tilting downward, and then placing the drink into the shopping cart."]}
{"task_id": "take_drink_to_cart", "episode_index": 192, "video_path": "take_drink_to_cart/videos/chunk-000/{video_key}/episode_000192.mp4", "tasks": ["Retrieve drink from freezer."], "length": 1087, "action_config": [{"start_frame": 0, "end_frame": 363, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 363, "end_frame": 585, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 585, "end_frame": 807, "action_text": "rotate the waist to the right and tilt it downward", "skill": "Rotate", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 807, "end_frame": 885, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot has retrieved the yuzu oolong tea from the refrigerated cabinet and adjusted its orientation by rotating the waist to the right and tilting downward."}, {"start_frame": 885, "end_frame": 966, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot retrieved the yuzu oolong tea from the refrigerated cabinet and placed it into the shopping cart."}], "detailed_task_instruction": ["Retrieve the yuzu oolong tea from the refrigerated cabinet by picking it up, rotating your waist to the right while tilting downward, and then placing the drink into the shopping cart."]}
{"task_id": "take_drink_to_cart", "episode_index": 193, "video_path": "take_drink_to_cart/videos/chunk-000/{video_key}/episode_000193.mp4", "tasks": ["Retrieve drink from freezer."], "length": 1196, "action_config": [{"start_frame": 0, "end_frame": 371, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 371, "end_frame": 681, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 681, "end_frame": 879, "action_text": "rotate the waist to the right and tilt it downward", "skill": "Rotate", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 879, "end_frame": 957, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot has retrieved the yuzu oolong tea from the refrigerated cabinet and adjusted its orientation by rotating the waist to the right and tilting downward."}, {"start_frame": 957, "end_frame": 1022, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot retrieved the yuzu oolong tea from the refrigerated cabinet and placed it into the shopping cart."}], "detailed_task_instruction": ["Retrieve the yuzu oolong tea from the refrigerated cabinet by picking it up, rotating your waist to the right while tilting downward, and then placing the drink into the shopping cart."]}
{"task_id": "take_drink_to_cart", "episode_index": 194, "video_path": "take_drink_to_cart/videos/chunk-000/{video_key}/episode_000194.mp4", "tasks": ["Retrieve drink from freezer."], "length": 1052, "action_config": [{"start_frame": 0, "end_frame": 261, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 261, "end_frame": 575, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 575, "end_frame": 798, "action_text": "rotate the waist to the right and tilt it downward", "skill": "Rotate", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 798, "end_frame": 854, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot has retrieved the yuzu oolong tea from the refrigerated cabinet and adjusted its orientation by rotating the waist to the right and tilting downward."}, {"start_frame": 854, "end_frame": 938, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot retrieved the yuzu oolong tea from the refrigerated cabinet and placed it into the shopping cart."}], "detailed_task_instruction": ["Retrieve the yuzu oolong tea from the refrigerated cabinet by picking it up, rotating your waist to the right while tilting downward, and then placing the drink into the shopping cart."]}
{"task_id": "take_drink_to_cart", "episode_index": 195, "video_path": "take_drink_to_cart/videos/chunk-000/{video_key}/episode_000195.mp4", "tasks": ["Retrieve drink from freezer."], "length": 990, "action_config": [{"start_frame": 0, "end_frame": 237, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 237, "end_frame": 552, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 552, "end_frame": 758, "action_text": "rotate the waist to the right and tilt it downward", "skill": "Rotate", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 758, "end_frame": 815, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot has retrieved the yuzu oolong tea from the refrigerated cabinet and adjusted its orientation by rotating the waist to the right and tilting downward."}, {"start_frame": 815, "end_frame": 905, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot retrieved the yuzu oolong tea from the refrigerated cabinet and placed it into the shopping cart."}], "detailed_task_instruction": ["Retrieve the yuzu oolong tea from the refrigerated cabinet by picking it up, rotating your waist to the right while tilting downward, and then placing the drink into the shopping cart."]}
{"task_id": "take_drink_to_cart", "episode_index": 196, "video_path": "take_drink_to_cart/videos/chunk-000/{video_key}/episode_000196.mp4", "tasks": ["Retrieve drink from freezer."], "length": 1396, "action_config": [{"start_frame": 0, "end_frame": 402, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 402, "end_frame": 699, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 699, "end_frame": 978, "action_text": "rotate the waist to the right and tilt it downward", "skill": "Rotate", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 978, "end_frame": 1067, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot has retrieved the yuzu oolong tea from the refrigerated cabinet and adjusted its orientation by rotating the waist to the right and tilting downward."}, {"start_frame": 1067, "end_frame": 1187, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot retrieved the yuzu oolong tea from the refrigerated cabinet and placed it into the shopping cart."}], "detailed_task_instruction": ["Retrieve the yuzu oolong tea from the refrigerated cabinet by picking it up, rotating your waist to the right while tilting downward, and then placing the drink into the shopping cart."]}
{"task_id": "take_drink_to_cart", "episode_index": 197, "video_path": "take_drink_to_cart/videos/chunk-000/{video_key}/episode_000197.mp4", "tasks": ["Retrieve drink from freezer."], "length": 1298, "action_config": [{"start_frame": 0, "end_frame": 396, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 396, "end_frame": 690, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 690, "end_frame": 950, "action_text": "rotate the waist to the right and tilt it downward", "skill": "Rotate", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 950, "end_frame": 1039, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot has retrieved the yuzu oolong tea from the refrigerated cabinet and adjusted its orientation by rotating the waist to the right and tilting downward."}, {"start_frame": 1039, "end_frame": 1140, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot retrieved the yuzu oolong tea from the refrigerated cabinet and placed it into the shopping cart."}], "detailed_task_instruction": ["Retrieve the yuzu oolong tea from the refrigerated cabinet by picking it up, rotating your waist to the right while tilting downward, and then placing the drink into the shopping cart."]}
{"task_id": "take_drink_to_cart", "episode_index": 198, "video_path": "take_drink_to_cart/videos/chunk-000/{video_key}/episode_000198.mp4", "tasks": ["Retrieve drink from freezer."], "length": 1174, "action_config": [{"start_frame": 0, "end_frame": 348, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 348, "end_frame": 654, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 654, "end_frame": 871, "action_text": "rotate the waist to the right and tilt it downward", "skill": "Rotate", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 871, "end_frame": 950, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot has retrieved the yuzu oolong tea from the refrigerated cabinet and adjusted its orientation by rotating the waist to the right and tilting downward."}, {"start_frame": 950, "end_frame": 1035, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot retrieved the yuzu oolong tea from the refrigerated cabinet and placed it into the shopping cart."}], "detailed_task_instruction": ["Retrieve the yuzu oolong tea from the refrigerated cabinet by picking it up, rotating your waist to the right while tilting downward, and then placing the drink into the shopping cart."]}
{"task_id": "take_drink_to_cart", "episode_index": 199, "video_path": "take_drink_to_cart/videos/chunk-000/{video_key}/episode_000199.mp4", "tasks": ["Retrieve drink from freezer."], "length": 1037, "action_config": [{"start_frame": 0, "end_frame": 294, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 294, "end_frame": 528, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 528, "end_frame": 732, "action_text": "rotate the waist to the right and tilt it downward", "skill": "Rotate", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 732, "end_frame": 821, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot has retrieved the yuzu oolong tea from the refrigerated cabinet and adjusted its orientation by rotating the waist to the right and tilting downward."}, {"start_frame": 821, "end_frame": 906, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot retrieved the yuzu oolong tea from the refrigerated cabinet and placed it into the shopping cart."}], "detailed_task_instruction": ["Retrieve the yuzu oolong tea from the refrigerated cabinet by picking it up, rotating your waist to the right while tilting downward, and then placing the drink into the shopping cart."]}
{"task_id": "take_drink_to_cart", "episode_index": 200, "video_path": "take_drink_to_cart/videos/chunk-000/{video_key}/episode_000200.mp4", "tasks": ["Retrieve drink from freezer."], "length": 1168, "action_config": [{"start_frame": 0, "end_frame": 315, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 315, "end_frame": 651, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 651, "end_frame": 846, "action_text": "rotate the waist to the right and tilt it downward", "skill": "Rotate", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 846, "end_frame": 929, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot has retrieved the yuzu oolong tea from the refrigerated cabinet and adjusted its orientation by rotating the waist to the right and tilting downward."}, {"start_frame": 929, "end_frame": 1152, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot retrieved the yuzu oolong tea from the refrigerated cabinet and placed it into the shopping cart."}], "detailed_task_instruction": ["Retrieve the yuzu oolong tea from the refrigerated cabinet by picking it up, rotating your waist to the right while tilting downward, and then placing the drink into the shopping cart."]}
{"task_id": "take_drink_to_cart", "episode_index": 201, "video_path": "take_drink_to_cart/videos/chunk-000/{video_key}/episode_000201.mp4", "tasks": ["Retrieve drink from freezer."], "length": 1251, "action_config": [{"start_frame": 0, "end_frame": 400, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 400, "end_frame": 683, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 683, "end_frame": 909, "action_text": "rotate the waist to the right and tilt it downward", "skill": "Rotate", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 909, "end_frame": 1001, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot has retrieved the yuzu oolong tea from the refrigerated cabinet and adjusted its orientation by rotating the waist to the right and tilting downward."}, {"start_frame": 1001, "end_frame": 1233, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot retrieved the yuzu oolong tea from the refrigerated cabinet and placed it into the shopping cart."}], "detailed_task_instruction": ["Retrieve the yuzu oolong tea from the refrigerated cabinet by picking it up, rotating your waist to the right while tilting downward, and then placing the drink into the shopping cart."]}
{"task_id": "take_drink_to_cart", "episode_index": 202, "video_path": "take_drink_to_cart/videos/chunk-000/{video_key}/episode_000202.mp4", "tasks": ["Retrieve drink from freezer."], "length": 1130, "action_config": [{"start_frame": 0, "end_frame": 455, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 455, "end_frame": 675, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 675, "end_frame": 840, "action_text": "rotate the waist to the right and tilt it downward", "skill": "Rotate", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 840, "end_frame": 909, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot has retrieved the yuzu oolong tea from the refrigerated cabinet and adjusted its orientation by rotating the waist to the right and tilting downward."}, {"start_frame": 909, "end_frame": 1130, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot retrieved the yuzu oolong tea from the refrigerated cabinet and placed it into the shopping cart."}], "detailed_task_instruction": ["Retrieve the yuzu oolong tea from the refrigerated cabinet by picking it up, rotating your waist to the right while tilting downward, and then placing the drink into the shopping cart."]}
{"task_id": "take_drink_to_cart", "episode_index": 203, "video_path": "take_drink_to_cart/videos/chunk-000/{video_key}/episode_000203.mp4", "tasks": ["Retrieve drink from freezer."], "length": 1248, "action_config": [{"start_frame": 0, "end_frame": 377, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 377, "end_frame": 723, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 723, "end_frame": 936, "action_text": "rotate the waist to the right and tilt it downward", "skill": "Rotate", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 936, "end_frame": 1008, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot has retrieved the yuzu oolong tea from the refrigerated cabinet and adjusted its orientation by rotating the waist to the right and tilting downward."}, {"start_frame": 1008, "end_frame": 1224, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot retrieved the yuzu oolong tea from the refrigerated cabinet and placed it into the shopping cart."}], "detailed_task_instruction": ["Retrieve the yuzu oolong tea from the refrigerated cabinet by picking it up, rotating your waist to the right while tilting downward, and then placing the drink into the shopping cart."]}
{"task_id": "take_drink_to_cart", "episode_index": 204, "video_path": "take_drink_to_cart/videos/chunk-000/{video_key}/episode_000204.mp4", "tasks": ["Retrieve drink from freezer."], "length": 1047, "action_config": [{"start_frame": 0, "end_frame": 305, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 305, "end_frame": 658, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 658, "end_frame": 833, "action_text": "rotate the waist to the right and tilt it downward", "skill": "Rotate", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 833, "end_frame": 887, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot has retrieved the yuzu oolong tea from the refrigerated cabinet and adjusted its orientation by rotating the waist to the right and tilting downward."}, {"start_frame": 887, "end_frame": 1047, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot retrieved the yuzu oolong tea from the refrigerated cabinet and placed it into the shopping cart."}], "detailed_task_instruction": ["Retrieve the yuzu oolong tea from the refrigerated cabinet by picking it up, rotating your waist to the right while tilting downward, and then placing the drink into the shopping cart."]}
{"task_id": "take_drink_to_cart", "episode_index": 205, "video_path": "take_drink_to_cart/videos/chunk-000/{video_key}/episode_000205.mp4", "tasks": ["Retrieve drink from freezer."], "length": 875, "action_config": [{"start_frame": 0, "end_frame": 221, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 221, "end_frame": 442, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 442, "end_frame": 618, "action_text": "rotate the waist to the right and tilt it downward", "skill": "Rotate", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 618, "end_frame": 684, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot has retrieved the yuzu oolong tea from the refrigerated cabinet and adjusted its orientation by rotating the waist to the right and tilting downward."}, {"start_frame": 684, "end_frame": 875, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot retrieved the yuzu oolong tea from the refrigerated cabinet and placed it into the shopping cart."}], "detailed_task_instruction": ["Retrieve the yuzu oolong tea from the refrigerated cabinet by picking it up, rotating your waist to the right while tilting downward, and then placing the drink into the shopping cart."]}
{"task_id": "take_drink_to_cart", "episode_index": 206, "video_path": "take_drink_to_cart/videos/chunk-000/{video_key}/episode_000206.mp4", "tasks": ["Retrieve drink from freezer."], "length": 1226, "action_config": [{"start_frame": 0, "end_frame": 428, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 428, "end_frame": 708, "action_text": "pick up the yuzu oolong tea from the refrigerated cabinet", "skill": "Pick", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 708, "end_frame": 924, "action_text": "rotate the waist to the right and tilt it downward", "skill": "Rotate", "language_memory": "The robot has picked up the yuzu oolong tea from the refrigerated cabinet."}, {"start_frame": 924, "end_frame": 993, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot has retrieved the yuzu oolong tea from the refrigerated cabinet and adjusted its orientation by rotating the waist to the right and tilting downward."}, {"start_frame": 993, "end_frame": 1082, "action_text": "place the yuzu oolong tea into the shopping cart", "skill": "Place", "language_memory": "The robot retrieved the yuzu oolong tea from the refrigerated cabinet and placed it into the shopping cart."}], "detailed_task_instruction": ["Retrieve the yuzu oolong tea from the refrigerated cabinet by picking it up, rotating your waist to the right while tilting downward, and then placing the drink into the shopping cart."]}
{"task_id": "take_laundry_detergent_to_cart", "episode_index": 0, "video_path": "take_laundry_detergent_to_cart/videos/chunk-000/{video_key}/episode_000000.mp4", "tasks": ["Take laundry detergent to cart."], "length": 636, "action_config": [{"start_frame": 0, "end_frame": 192, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 192, "end_frame": 320, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 320, "end_frame": 417, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 417, "end_frame": 477, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up a blue bottled laundry detergent from the shelf and rotated its waist."}, {"start_frame": 477, "end_frame": 587, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}, {"start_frame": 587, "end_frame": 618, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the blue bottled laundry detergent from the first row of the shelf, rotate your waist, and place the bottle into the shopping cart."]}
{"task_id": "take_laundry_detergent_to_cart", "episode_index": 1, "video_path": "take_laundry_detergent_to_cart/videos/chunk-000/{video_key}/episode_000001.mp4", "tasks": ["Take laundry detergent to cart."], "length": 672, "action_config": [{"start_frame": 0, "end_frame": 215, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 215, "end_frame": 348, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 348, "end_frame": 447, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 447, "end_frame": 503, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up a blue bottled laundry detergent from the shelf and rotated its waist."}, {"start_frame": 503, "end_frame": 626, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}, {"start_frame": 626, "end_frame": 663, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the blue bottled laundry detergent from the first row of the shelf, rotate your waist, and place the bottle into the shopping cart."]}
{"task_id": "take_laundry_detergent_to_cart", "episode_index": 2, "video_path": "take_laundry_detergent_to_cart/videos/chunk-000/{video_key}/episode_000002.mp4", "tasks": ["Take laundry detergent to cart."], "length": 634, "action_config": [{"start_frame": 0, "end_frame": 185, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 185, "end_frame": 351, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 351, "end_frame": 448, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 448, "end_frame": 512, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up a blue bottled laundry detergent from the shelf and rotated its waist."}, {"start_frame": 512, "end_frame": 594, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}, {"start_frame": 594, "end_frame": 634, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the blue bottled laundry detergent from the first row of the shelf, rotate your waist, and place the bottle into the shopping cart."]}
{"task_id": "take_laundry_detergent_to_cart", "episode_index": 3, "video_path": "take_laundry_detergent_to_cart/videos/chunk-000/{video_key}/episode_000003.mp4", "tasks": ["Take laundry detergent to cart."], "length": 636, "action_config": [{"start_frame": 0, "end_frame": 168, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 168, "end_frame": 311, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 311, "end_frame": 409, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 409, "end_frame": 467, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up a blue bottled laundry detergent from the shelf and rotated its waist."}, {"start_frame": 467, "end_frame": 591, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}, {"start_frame": 591, "end_frame": 627, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the blue bottled laundry detergent from the first row of the shelf, rotate your waist, and place the bottle into the shopping cart."]}
{"task_id": "take_laundry_detergent_to_cart", "episode_index": 4, "video_path": "take_laundry_detergent_to_cart/videos/chunk-000/{video_key}/episode_000004.mp4", "tasks": ["Take laundry detergent to cart."], "length": 796, "action_config": [{"start_frame": 23, "end_frame": 261, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 261, "end_frame": 435, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 435, "end_frame": 573, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 573, "end_frame": 642, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up a blue bottled laundry detergent from the shelf and rotated its waist."}, {"start_frame": 642, "end_frame": 744, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}, {"start_frame": 744, "end_frame": 783, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the blue bottled laundry detergent from the first row of the shelf, rotate your waist, and place the bottle into the shopping cart."]}
{"task_id": "take_laundry_detergent_to_cart", "episode_index": 5, "video_path": "take_laundry_detergent_to_cart/videos/chunk-000/{video_key}/episode_000005.mp4", "tasks": ["Take laundry detergent to cart."], "length": 1100, "action_config": [{"start_frame": 0, "end_frame": 320, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 320, "end_frame": 684, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 684, "end_frame": 777, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 777, "end_frame": 859, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up a blue bottled laundry detergent from the shelf and rotated its waist."}, {"start_frame": 859, "end_frame": 1053, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}, {"start_frame": 1053, "end_frame": 1087, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the blue bottled laundry detergent from the first row of the shelf, rotate your waist, and place the bottle into the shopping cart."]}
{"task_id": "take_laundry_detergent_to_cart", "episode_index": 6, "video_path": "take_laundry_detergent_to_cart/videos/chunk-000/{video_key}/episode_000006.mp4", "tasks": ["Take laundry detergent to cart."], "length": 787, "action_config": [{"start_frame": 16, "end_frame": 175, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 175, "end_frame": 349, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 349, "end_frame": 462, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 462, "end_frame": 585, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up a blue bottled laundry detergent from the shelf and rotated its waist."}, {"start_frame": 585, "end_frame": 738, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}, {"start_frame": 738, "end_frame": 772, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the blue bottled laundry detergent from the first row of the shelf, rotate your waist, and place the bottle into the shopping cart."]}
{"task_id": "take_laundry_detergent_to_cart", "episode_index": 7, "video_path": "take_laundry_detergent_to_cart/videos/chunk-000/{video_key}/episode_000007.mp4", "tasks": ["Take laundry detergent to cart."], "length": 716, "action_config": [{"start_frame": 0, "end_frame": 207, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 207, "end_frame": 393, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 393, "end_frame": 489, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 489, "end_frame": 552, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up a blue bottled laundry detergent from the shelf and rotated its waist."}, {"start_frame": 552, "end_frame": 669, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}, {"start_frame": 669, "end_frame": 702, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the blue bottled laundry detergent from the first row of the shelf, rotate your waist, and place the bottle into the shopping cart."]}
{"task_id": "take_laundry_detergent_to_cart", "episode_index": 8, "video_path": "take_laundry_detergent_to_cart/videos/chunk-000/{video_key}/episode_000008.mp4", "tasks": ["Take laundry detergent to cart."], "length": 669, "action_config": [{"start_frame": 0, "end_frame": 192, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 192, "end_frame": 323, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 323, "end_frame": 428, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 428, "end_frame": 519, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up a blue bottled laundry detergent from the shelf and rotated its waist."}, {"start_frame": 519, "end_frame": 620, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}, {"start_frame": 620, "end_frame": 653, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the blue bottled laundry detergent from the first row of the shelf, rotate your waist, and place the bottle into the shopping cart."]}
{"task_id": "take_laundry_detergent_to_cart", "episode_index": 9, "video_path": "take_laundry_detergent_to_cart/videos/chunk-000/{video_key}/episode_000009.mp4", "tasks": ["Take laundry detergent to cart."], "length": 904, "action_config": [{"start_frame": 0, "end_frame": 300, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 300, "end_frame": 557, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 557, "end_frame": 666, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 666, "end_frame": 730, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up a blue bottled laundry detergent from the shelf and rotated its waist."}, {"start_frame": 730, "end_frame": 861, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}, {"start_frame": 861, "end_frame": 896, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the blue bottled laundry detergent from the first row of the shelf, rotate your waist, and place the bottle into the shopping cart."]}
{"task_id": "take_laundry_detergent_to_cart", "episode_index": 10, "video_path": "take_laundry_detergent_to_cart/videos/chunk-000/{video_key}/episode_000010.mp4", "tasks": ["Take laundry detergent to cart."], "length": 668, "action_config": [{"start_frame": 0, "end_frame": 212, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 212, "end_frame": 345, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 345, "end_frame": 447, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 447, "end_frame": 519, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up a blue bottled laundry detergent from the shelf and rotated its waist."}, {"start_frame": 519, "end_frame": 624, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}, {"start_frame": 624, "end_frame": 660, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the blue bottled laundry detergent from the first row of the shelf, rotate your waist, and place the bottle into the shopping cart."]}
{"task_id": "take_laundry_detergent_to_cart", "episode_index": 11, "video_path": "take_laundry_detergent_to_cart/videos/chunk-000/{video_key}/episode_000011.mp4", "tasks": ["Take laundry detergent to cart."], "length": 679, "action_config": [{"start_frame": 0, "end_frame": 203, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 203, "end_frame": 372, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 372, "end_frame": 485, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 485, "end_frame": 555, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up a blue bottled laundry detergent from the shelf and rotated its waist."}, {"start_frame": 555, "end_frame": 596, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}, {"start_frame": 596, "end_frame": 679, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the blue bottled laundry detergent from the first row of the shelf, rotate your waist, and place the bottle into the shopping cart."]}
{"task_id": "take_laundry_detergent_to_cart", "episode_index": 12, "video_path": "take_laundry_detergent_to_cart/videos/chunk-000/{video_key}/episode_000012.mp4", "tasks": ["Take laundry detergent to cart."], "length": 574, "action_config": [{"start_frame": 0, "end_frame": 207, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 207, "end_frame": 285, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 285, "end_frame": 398, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 398, "end_frame": 447, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up a blue bottled laundry detergent from the shelf and rotated its waist."}, {"start_frame": 447, "end_frame": 518, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}, {"start_frame": 518, "end_frame": 574, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the blue bottled laundry detergent from the first row of the shelf, rotate your waist, and place the bottle into the shopping cart."]}
{"task_id": "take_laundry_detergent_to_cart", "episode_index": 13, "video_path": "take_laundry_detergent_to_cart/videos/chunk-000/{video_key}/episode_000013.mp4", "tasks": ["Take laundry detergent to cart."], "length": 597, "action_config": [{"start_frame": 0, "end_frame": 167, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 167, "end_frame": 291, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 291, "end_frame": 386, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 386, "end_frame": 440, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up a blue bottled laundry detergent from the shelf and rotated its waist."}, {"start_frame": 440, "end_frame": 514, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}, {"start_frame": 514, "end_frame": 597, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the blue bottled laundry detergent from the first row of the shelf, rotate your waist, and place the bottle into the shopping cart."]}
{"task_id": "take_laundry_detergent_to_cart", "episode_index": 14, "video_path": "take_laundry_detergent_to_cart/videos/chunk-000/{video_key}/episode_000014.mp4", "tasks": ["Take laundry detergent to cart."], "length": 888, "action_config": [{"start_frame": 0, "end_frame": 291, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 291, "end_frame": 430, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 430, "end_frame": 534, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 534, "end_frame": 678, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up a blue bottled laundry detergent from the shelf and rotated its waist."}, {"start_frame": 678, "end_frame": 729, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}, {"start_frame": 729, "end_frame": 888, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the blue bottled laundry detergent from the first row of the shelf, rotate your waist, and place the bottle into the shopping cart."]}
{"task_id": "take_laundry_detergent_to_cart", "episode_index": 15, "video_path": "take_laundry_detergent_to_cart/videos/chunk-000/{video_key}/episode_000015.mp4", "tasks": ["Take laundry detergent to cart."], "length": 602, "action_config": [{"start_frame": 0, "end_frame": 146, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 146, "end_frame": 278, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 278, "end_frame": 387, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 387, "end_frame": 456, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up a blue bottled laundry detergent from the shelf and rotated its waist."}, {"start_frame": 456, "end_frame": 502, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}, {"start_frame": 502, "end_frame": 602, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the blue bottled laundry detergent from the first row of the shelf, rotate your waist, and place the bottle into the shopping cart."]}
{"task_id": "take_laundry_detergent_to_cart", "episode_index": 16, "video_path": "take_laundry_detergent_to_cart/videos/chunk-000/{video_key}/episode_000016.mp4", "tasks": ["Take laundry detergent to cart."], "length": 726, "action_config": [{"start_frame": 0, "end_frame": 174, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 174, "end_frame": 330, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 330, "end_frame": 431, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 431, "end_frame": 510, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up a blue bottled laundry detergent from the shelf and rotated its waist."}, {"start_frame": 510, "end_frame": 629, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}, {"start_frame": 629, "end_frame": 726, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the blue bottled laundry detergent from the first row of the shelf, rotate your waist, and place the bottle into the shopping cart."]}
{"task_id": "take_laundry_detergent_to_cart", "episode_index": 17, "video_path": "take_laundry_detergent_to_cart/videos/chunk-000/{video_key}/episode_000017.mp4", "tasks": ["Take laundry detergent to cart."], "length": 752, "action_config": [{"start_frame": 0, "end_frame": 174, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 174, "end_frame": 398, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 398, "end_frame": 516, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 516, "end_frame": 585, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up a blue bottled laundry detergent from the shelf and rotated its waist."}, {"start_frame": 585, "end_frame": 678, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}, {"start_frame": 678, "end_frame": 752, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the blue bottled laundry detergent from the first row of the shelf, rotate your waist, and place the bottle into the shopping cart."]}
{"task_id": "take_laundry_detergent_to_cart", "episode_index": 18, "video_path": "take_laundry_detergent_to_cart/videos/chunk-000/{video_key}/episode_000018.mp4", "tasks": ["Take laundry detergent to cart."], "length": 865, "action_config": [{"start_frame": 0, "end_frame": 266, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 266, "end_frame": 462, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 462, "end_frame": 558, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 558, "end_frame": 642, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up a blue bottled laundry detergent from the shelf and rotated its waist."}, {"start_frame": 642, "end_frame": 725, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}, {"start_frame": 725, "end_frame": 865, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the blue bottled laundry detergent from the first row of the shelf, rotate your waist, and place the bottle into the shopping cart."]}
{"task_id": "take_laundry_detergent_to_cart", "episode_index": 19, "video_path": "take_laundry_detergent_to_cart/videos/chunk-000/{video_key}/episode_000019.mp4", "tasks": ["Take laundry detergent to cart."], "length": 864, "action_config": [{"start_frame": 0, "end_frame": 215, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 215, "end_frame": 491, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 491, "end_frame": 596, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 596, "end_frame": 684, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up a blue bottled laundry detergent from the shelf and rotated its waist."}, {"start_frame": 684, "end_frame": 753, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}, {"start_frame": 753, "end_frame": 864, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the blue bottled laundry detergent from the first row of the shelf, rotate your waist, and place the bottle into the shopping cart."]}
{"task_id": "take_laundry_detergent_to_cart", "episode_index": 20, "video_path": "take_laundry_detergent_to_cart/videos/chunk-000/{video_key}/episode_000020.mp4", "tasks": ["Take laundry detergent to cart."], "length": 757, "action_config": [{"start_frame": 0, "end_frame": 236, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 236, "end_frame": 387, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 387, "end_frame": 492, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 492, "end_frame": 576, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up a blue bottled laundry detergent from the shelf and rotated its waist."}, {"start_frame": 576, "end_frame": 693, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}, {"start_frame": 693, "end_frame": 757, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the blue bottled laundry detergent from the first row of the shelf, rotate your waist, and place the bottle into the shopping cart."]}
{"task_id": "take_laundry_detergent_to_cart", "episode_index": 21, "video_path": "take_laundry_detergent_to_cart/videos/chunk-000/{video_key}/episode_000021.mp4", "tasks": ["Take laundry detergent to cart."], "length": 699, "action_config": [{"start_frame": 0, "end_frame": 197, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 197, "end_frame": 338, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 338, "end_frame": 440, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 440, "end_frame": 519, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up a blue bottled laundry detergent from the shelf and rotated its waist."}, {"start_frame": 519, "end_frame": 603, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}, {"start_frame": 603, "end_frame": 699, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the blue bottled laundry detergent from the first row of the shelf, rotate your waist, and place the bottle into the shopping cart."]}
{"task_id": "take_laundry_detergent_to_cart", "episode_index": 22, "video_path": "take_laundry_detergent_to_cart/videos/chunk-000/{video_key}/episode_000022.mp4", "tasks": ["Take laundry detergent to cart."], "length": 565, "action_config": [{"start_frame": 0, "end_frame": 186, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 186, "end_frame": 274, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 274, "end_frame": 366, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 366, "end_frame": 440, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up a blue bottled laundry detergent from the shelf and rotated its waist."}, {"start_frame": 440, "end_frame": 510, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}, {"start_frame": 510, "end_frame": 565, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the blue bottled laundry detergent from the first row of the shelf, rotate your waist, and place the bottle into the shopping cart."]}
{"task_id": "take_laundry_detergent_to_cart", "episode_index": 23, "video_path": "take_laundry_detergent_to_cart/videos/chunk-000/{video_key}/episode_000023.mp4", "tasks": ["Take laundry detergent to cart."], "length": 605, "action_config": [{"start_frame": 0, "end_frame": 150, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 150, "end_frame": 299, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 299, "end_frame": 401, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 401, "end_frame": 468, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up a blue bottled laundry detergent from the shelf and rotated its waist."}, {"start_frame": 468, "end_frame": 552, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}, {"start_frame": 552, "end_frame": 605, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the blue bottled laundry detergent from the first row of the shelf, rotate your waist, and place the bottle into the shopping cart."]}
{"task_id": "take_laundry_detergent_to_cart", "episode_index": 24, "video_path": "take_laundry_detergent_to_cart/videos/chunk-000/{video_key}/episode_000024.mp4", "tasks": ["Take laundry detergent to cart."], "length": 850, "action_config": [{"start_frame": 0, "end_frame": 290, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 290, "end_frame": 459, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 459, "end_frame": 563, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 563, "end_frame": 660, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up a blue bottled laundry detergent from the shelf and rotated its waist."}, {"start_frame": 660, "end_frame": 762, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}, {"start_frame": 762, "end_frame": 850, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the blue bottled laundry detergent from the first row of the shelf, rotate your waist, and place the bottle into the shopping cart."]}
{"task_id": "take_laundry_detergent_to_cart", "episode_index": 25, "video_path": "take_laundry_detergent_to_cart/videos/chunk-000/{video_key}/episode_000025.mp4", "tasks": ["Take laundry detergent to cart."], "length": 704, "action_config": [{"start_frame": 0, "end_frame": 207, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 207, "end_frame": 327, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 327, "end_frame": 449, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 449, "end_frame": 515, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up a blue bottled laundry detergent from the shelf and rotated its waist."}, {"start_frame": 515, "end_frame": 587, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}, {"start_frame": 587, "end_frame": 704, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the blue bottled laundry detergent from the first row of the shelf, rotate your waist, and place the bottle into the shopping cart."]}
{"task_id": "take_laundry_detergent_to_cart", "episode_index": 26, "video_path": "take_laundry_detergent_to_cart/videos/chunk-000/{video_key}/episode_000026.mp4", "tasks": ["Take laundry detergent to cart."], "length": 690, "action_config": [{"start_frame": 0, "end_frame": 197, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 197, "end_frame": 315, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 315, "end_frame": 434, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 434, "end_frame": 525, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up a blue bottled laundry detergent from the shelf and rotated its waist."}, {"start_frame": 525, "end_frame": 625, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}, {"start_frame": 625, "end_frame": 690, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the blue bottled laundry detergent from the first row of the shelf, rotate your waist, and place the bottle into the shopping cart."]}
{"task_id": "take_laundry_detergent_to_cart", "episode_index": 27, "video_path": "take_laundry_detergent_to_cart/videos/chunk-000/{video_key}/episode_000027.mp4", "tasks": ["Take laundry detergent to cart."], "length": 706, "action_config": [{"start_frame": 0, "end_frame": 218, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 218, "end_frame": 396, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 396, "end_frame": 506, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 506, "end_frame": 578, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up a blue bottled laundry detergent from the shelf and rotated its waist."}, {"start_frame": 578, "end_frame": 618, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}, {"start_frame": 618, "end_frame": 706, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the blue bottled laundry detergent from the first row of the shelf, rotate your waist, and place the bottle into the shopping cart."]}
{"task_id": "take_laundry_detergent_to_cart", "episode_index": 28, "video_path": "take_laundry_detergent_to_cart/videos/chunk-000/{video_key}/episode_000028.mp4", "tasks": ["Take laundry detergent to cart."], "length": 665, "action_config": [{"start_frame": 0, "end_frame": 189, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 189, "end_frame": 322, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 322, "end_frame": 422, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 422, "end_frame": 495, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up a blue bottled laundry detergent from the shelf and rotated its waist."}, {"start_frame": 495, "end_frame": 576, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}, {"start_frame": 576, "end_frame": 665, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the blue bottled laundry detergent from the first row of the shelf, rotate your waist, and place the bottle into the shopping cart."]}
{"task_id": "take_laundry_detergent_to_cart", "episode_index": 29, "video_path": "take_laundry_detergent_to_cart/videos/chunk-000/{video_key}/episode_000029.mp4", "tasks": ["Take laundry detergent to cart."], "length": 627, "action_config": [{"start_frame": 0, "end_frame": 170, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 170, "end_frame": 279, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 279, "end_frame": 390, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 390, "end_frame": 450, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up a blue bottled laundry detergent from the shelf and rotated its waist."}, {"start_frame": 450, "end_frame": 523, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}, {"start_frame": 523, "end_frame": 627, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the blue bottled laundry detergent from the first row of the shelf, rotate your waist, and place the bottle into the shopping cart."]}
{"task_id": "take_laundry_detergent_to_cart", "episode_index": 30, "video_path": "take_laundry_detergent_to_cart/videos/chunk-000/{video_key}/episode_000030.mp4", "tasks": ["Take laundry detergent to cart."], "length": 665, "action_config": [{"start_frame": 0, "end_frame": 186, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 186, "end_frame": 332, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 332, "end_frame": 434, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 434, "end_frame": 509, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up a blue bottled laundry detergent from the shelf and rotated its waist."}, {"start_frame": 509, "end_frame": 579, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}, {"start_frame": 579, "end_frame": 665, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the blue bottled laundry detergent from the first row of the shelf, rotate your waist, and place the bottle into the shopping cart."]}
{"task_id": "take_laundry_detergent_to_cart", "episode_index": 31, "video_path": "take_laundry_detergent_to_cart/videos/chunk-000/{video_key}/episode_000031.mp4", "tasks": ["Take laundry detergent to cart."], "length": 730, "action_config": [{"start_frame": 0, "end_frame": 222, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 222, "end_frame": 353, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 353, "end_frame": 482, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 482, "end_frame": 551, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up a blue bottled laundry detergent from the shelf and rotated its waist."}, {"start_frame": 551, "end_frame": 624, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}, {"start_frame": 624, "end_frame": 730, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the blue bottled laundry detergent from the first row of the shelf, rotate your waist, and place the bottle into the shopping cart."]}
{"task_id": "take_laundry_detergent_to_cart", "episode_index": 32, "video_path": "take_laundry_detergent_to_cart/videos/chunk-000/{video_key}/episode_000032.mp4", "tasks": ["Take laundry detergent to cart."], "length": 868, "action_config": [{"start_frame": 0, "end_frame": 248, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 248, "end_frame": 482, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 482, "end_frame": 590, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 590, "end_frame": 681, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up a blue bottled laundry detergent from the shelf and rotated its waist."}, {"start_frame": 681, "end_frame": 764, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}, {"start_frame": 764, "end_frame": 868, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the blue bottled laundry detergent from the first row of the shelf, rotate your waist, and place the bottle into the shopping cart."]}
{"task_id": "take_laundry_detergent_to_cart", "episode_index": 33, "video_path": "take_laundry_detergent_to_cart/videos/chunk-000/{video_key}/episode_000033.mp4", "tasks": ["Take laundry detergent to cart."], "length": 726, "action_config": [{"start_frame": 0, "end_frame": 227, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 227, "end_frame": 378, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 378, "end_frame": 472, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 472, "end_frame": 558, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up a blue bottled laundry detergent from the shelf and rotated its waist."}, {"start_frame": 558, "end_frame": 626, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}, {"start_frame": 626, "end_frame": 726, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the blue bottled laundry detergent from the first row of the shelf, rotate your waist, and place the bottle into the shopping cart."]}
{"task_id": "take_laundry_detergent_to_cart", "episode_index": 34, "video_path": "take_laundry_detergent_to_cart/videos/chunk-000/{video_key}/episode_000034.mp4", "tasks": ["Take laundry detergent to cart."], "length": 853, "action_config": [{"start_frame": 0, "end_frame": 252, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 252, "end_frame": 390, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 390, "end_frame": 522, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 522, "end_frame": 660, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up a blue bottled laundry detergent from the shelf and rotated its waist."}, {"start_frame": 660, "end_frame": 718, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}, {"start_frame": 718, "end_frame": 853, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the blue bottled laundry detergent from the first row of the shelf, rotate your waist, and place the bottle into the shopping cart."]}
{"task_id": "take_laundry_detergent_to_cart", "episode_index": 35, "video_path": "take_laundry_detergent_to_cart/videos/chunk-000/{video_key}/episode_000035.mp4", "tasks": ["Take laundry detergent to cart."], "length": 643, "action_config": [{"start_frame": 0, "end_frame": 189, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 189, "end_frame": 330, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 330, "end_frame": 438, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 438, "end_frame": 519, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up a blue bottled laundry detergent from the shelf and rotated its waist."}, {"start_frame": 519, "end_frame": 551, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}, {"start_frame": 551, "end_frame": 643, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the blue bottled laundry detergent from the first row of the shelf, rotate your waist, and place the bottle into the shopping cart."]}
{"task_id": "take_laundry_detergent_to_cart", "episode_index": 36, "video_path": "take_laundry_detergent_to_cart/videos/chunk-000/{video_key}/episode_000036.mp4", "tasks": ["Take laundry detergent to cart."], "length": 802, "action_config": [{"start_frame": 0, "end_frame": 252, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 252, "end_frame": 411, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 411, "end_frame": 501, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 501, "end_frame": 576, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up a blue bottled laundry detergent from the shelf and rotated its waist."}, {"start_frame": 576, "end_frame": 714, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}, {"start_frame": 714, "end_frame": 802, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the blue bottled laundry detergent from the first row of the shelf, rotate your waist, and place the bottle into the shopping cart."]}
{"task_id": "take_laundry_detergent_to_cart", "episode_index": 37, "video_path": "take_laundry_detergent_to_cart/videos/chunk-000/{video_key}/episode_000037.mp4", "tasks": ["Take laundry detergent to cart."], "length": 698, "action_config": [{"start_frame": 0, "end_frame": 200, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 200, "end_frame": 327, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 327, "end_frame": 447, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 447, "end_frame": 515, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up a blue bottled laundry detergent from the shelf and rotated its waist."}, {"start_frame": 515, "end_frame": 598, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}, {"start_frame": 598, "end_frame": 698, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the blue bottled laundry detergent from the first row of the shelf, rotate your waist, and place the bottle into the shopping cart."]}
{"task_id": "take_laundry_detergent_to_cart", "episode_index": 38, "video_path": "take_laundry_detergent_to_cart/videos/chunk-000/{video_key}/episode_000038.mp4", "tasks": ["Take laundry detergent to cart."], "length": 700, "action_config": [{"start_frame": 0, "end_frame": 197, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 197, "end_frame": 291, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 291, "end_frame": 393, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 393, "end_frame": 479, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up a blue bottled laundry detergent from the shelf and rotated its waist."}, {"start_frame": 479, "end_frame": 584, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}, {"start_frame": 584, "end_frame": 700, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the blue bottled laundry detergent from the first row of the shelf, rotate your waist, and place the bottle into the shopping cart."]}
{"task_id": "take_laundry_detergent_to_cart", "episode_index": 39, "video_path": "take_laundry_detergent_to_cart/videos/chunk-000/{video_key}/episode_000039.mp4", "tasks": ["Take laundry detergent to cart."], "length": 719, "action_config": [{"start_frame": 0, "end_frame": 252, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 252, "end_frame": 411, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 411, "end_frame": 469, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 469, "end_frame": 549, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up a blue bottled laundry detergent from the shelf and rotated its waist."}, {"start_frame": 549, "end_frame": 606, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}, {"start_frame": 606, "end_frame": 719, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the blue bottled laundry detergent from the first row of the shelf, rotate your waist, and place the bottle into the shopping cart."]}
{"task_id": "take_laundry_detergent_to_cart", "episode_index": 40, "video_path": "take_laundry_detergent_to_cart/videos/chunk-000/{video_key}/episode_000040.mp4", "tasks": ["Take laundry detergent to cart."], "length": 664, "action_config": [{"start_frame": 0, "end_frame": 159, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 159, "end_frame": 305, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 305, "end_frame": 432, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 432, "end_frame": 483, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up a blue bottled laundry detergent from the shelf and rotated its waist."}, {"start_frame": 483, "end_frame": 560, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}, {"start_frame": 560, "end_frame": 664, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the blue bottled laundry detergent from the first row of the shelf, rotate your waist, and place the bottle into the shopping cart."]}
{"task_id": "take_laundry_detergent_to_cart", "episode_index": 41, "video_path": "take_laundry_detergent_to_cart/videos/chunk-000/{video_key}/episode_000041.mp4", "tasks": ["Take laundry detergent to cart."], "length": 812, "action_config": [{"start_frame": 0, "end_frame": 194, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 194, "end_frame": 339, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 339, "end_frame": 447, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 447, "end_frame": 563, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up a blue bottled laundry detergent from the shelf and rotated its waist."}, {"start_frame": 563, "end_frame": 693, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}, {"start_frame": 693, "end_frame": 812, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the blue bottled laundry detergent from the first row of the shelf, rotate your waist, and place the bottle into the shopping cart."]}
{"task_id": "take_laundry_detergent_to_cart", "episode_index": 42, "video_path": "take_laundry_detergent_to_cart/videos/chunk-000/{video_key}/episode_000042.mp4", "tasks": ["Take laundry detergent to cart."], "length": 622, "action_config": [{"start_frame": 0, "end_frame": 243, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 243, "end_frame": 344, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 344, "end_frame": 435, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 435, "end_frame": 498, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up a blue bottled laundry detergent from the shelf and rotated its waist."}, {"start_frame": 498, "end_frame": 545, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}, {"start_frame": 545, "end_frame": 622, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the blue bottled laundry detergent from the first row of the shelf, rotate your waist, and place the bottle into the shopping cart."]}
{"task_id": "take_laundry_detergent_to_cart", "episode_index": 43, "video_path": "take_laundry_detergent_to_cart/videos/chunk-000/{video_key}/episode_000043.mp4", "tasks": ["Take laundry detergent to cart."], "length": 751, "action_config": [{"start_frame": 0, "end_frame": 318, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 318, "end_frame": 420, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 420, "end_frame": 537, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 537, "end_frame": 614, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up a blue bottled laundry detergent from the shelf and rotated its waist."}, {"start_frame": 614, "end_frame": 660, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}, {"start_frame": 660, "end_frame": 751, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the blue bottled laundry detergent from the first row of the shelf, rotate your waist, and place the bottle into the shopping cart."]}
{"task_id": "take_laundry_detergent_to_cart", "episode_index": 44, "video_path": "take_laundry_detergent_to_cart/videos/chunk-000/{video_key}/episode_000044.mp4", "tasks": ["Take laundry detergent to cart."], "length": 622, "action_config": [{"start_frame": 0, "end_frame": 185, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 185, "end_frame": 303, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 303, "end_frame": 407, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 407, "end_frame": 486, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up a blue bottled laundry detergent from the shelf and rotated its waist."}, {"start_frame": 486, "end_frame": 545, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}, {"start_frame": 545, "end_frame": 622, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the blue bottled laundry detergent from the first row of the shelf, rotate your waist, and place the bottle into the shopping cart."]}
{"task_id": "take_laundry_detergent_to_cart", "episode_index": 45, "video_path": "take_laundry_detergent_to_cart/videos/chunk-000/{video_key}/episode_000045.mp4", "tasks": ["Take laundry detergent to cart."], "length": 665, "action_config": [{"start_frame": 0, "end_frame": 194, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 194, "end_frame": 306, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 306, "end_frame": 411, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 411, "end_frame": 474, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up a blue bottled laundry detergent from the shelf and rotated its waist."}, {"start_frame": 474, "end_frame": 540, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}, {"start_frame": 540, "end_frame": 665, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the blue bottled laundry detergent from the first row of the shelf, rotate your waist, and place the bottle into the shopping cart."]}
{"task_id": "take_laundry_detergent_to_cart", "episode_index": 46, "video_path": "take_laundry_detergent_to_cart/videos/chunk-000/{video_key}/episode_000046.mp4", "tasks": ["Take laundry detergent to cart."], "length": 608, "action_config": [{"start_frame": 0, "end_frame": 156, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 156, "end_frame": 321, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 321, "end_frame": 419, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 419, "end_frame": 477, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up a blue bottled laundry detergent from the shelf and rotated its waist."}, {"start_frame": 477, "end_frame": 533, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}, {"start_frame": 533, "end_frame": 608, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the blue bottled laundry detergent from the first row of the shelf, rotate your waist, and place the bottle into the shopping cart."]}
{"task_id": "take_laundry_detergent_to_cart", "episode_index": 47, "video_path": "take_laundry_detergent_to_cart/videos/chunk-000/{video_key}/episode_000047.mp4", "tasks": ["Take laundry detergent to cart."], "length": 635, "action_config": [{"start_frame": 0, "end_frame": 165, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 165, "end_frame": 321, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 321, "end_frame": 432, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 432, "end_frame": 489, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up a blue bottled laundry detergent from the shelf and rotated its waist."}, {"start_frame": 489, "end_frame": 543, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}, {"start_frame": 543, "end_frame": 635, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the blue bottled laundry detergent from the first row of the shelf, rotate your waist, and place the bottle into the shopping cart."]}
{"task_id": "take_laundry_detergent_to_cart", "episode_index": 48, "video_path": "take_laundry_detergent_to_cart/videos/chunk-000/{video_key}/episode_000048.mp4", "tasks": ["Take laundry detergent to cart."], "length": 716, "action_config": [{"start_frame": 0, "end_frame": 192, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 192, "end_frame": 348, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 348, "end_frame": 453, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 453, "end_frame": 530, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up a blue bottled laundry detergent from the shelf and rotated its waist."}, {"start_frame": 530, "end_frame": 636, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}, {"start_frame": 636, "end_frame": 716, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the blue bottled laundry detergent from the first row of the shelf, rotate your waist, and place the bottle into the shopping cart."]}
{"task_id": "take_laundry_detergent_to_cart", "episode_index": 49, "video_path": "take_laundry_detergent_to_cart/videos/chunk-000/{video_key}/episode_000049.mp4", "tasks": ["Take laundry detergent to cart."], "length": 835, "action_config": [{"start_frame": 0, "end_frame": 215, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 215, "end_frame": 470, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 470, "end_frame": 587, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 587, "end_frame": 644, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up a blue bottled laundry detergent from the shelf and rotated its waist."}, {"start_frame": 644, "end_frame": 755, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}, {"start_frame": 755, "end_frame": 835, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the blue bottled laundry detergent from the first row of the shelf, rotate your waist, and place the bottle into the shopping cart."]}
{"task_id": "take_laundry_detergent_to_cart", "episode_index": 50, "video_path": "take_laundry_detergent_to_cart/videos/chunk-000/{video_key}/episode_000050.mp4", "tasks": ["Take laundry detergent to cart."], "length": 799, "action_config": [{"start_frame": 0, "end_frame": 246, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 246, "end_frame": 441, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 441, "end_frame": 552, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 552, "end_frame": 603, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up a blue bottled laundry detergent from the shelf and rotated its waist."}, {"start_frame": 603, "end_frame": 702, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}, {"start_frame": 702, "end_frame": 799, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the blue bottled laundry detergent from the first row of the shelf, rotate your waist, and place the bottle into the shopping cart."]}
{"task_id": "take_laundry_detergent_to_cart", "episode_index": 51, "video_path": "take_laundry_detergent_to_cart/videos/chunk-000/{video_key}/episode_000051.mp4", "tasks": ["Take laundry detergent to cart."], "length": 742, "action_config": [{"start_frame": 0, "end_frame": 216, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 216, "end_frame": 395, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 395, "end_frame": 513, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 513, "end_frame": 576, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up a blue bottled laundry detergent from the shelf and rotated its waist."}, {"start_frame": 576, "end_frame": 660, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}, {"start_frame": 660, "end_frame": 742, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the blue bottled laundry detergent from the first row of the shelf, rotate your waist, and place the bottle into the shopping cart."]}
{"task_id": "take_laundry_detergent_to_cart", "episode_index": 52, "video_path": "take_laundry_detergent_to_cart/videos/chunk-000/{video_key}/episode_000052.mp4", "tasks": ["Take laundry detergent to cart."], "length": 648, "action_config": [{"start_frame": 0, "end_frame": 156, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 156, "end_frame": 280, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 280, "end_frame": 389, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 389, "end_frame": 476, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up a blue bottled laundry detergent from the shelf and rotated its waist."}, {"start_frame": 476, "end_frame": 576, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}, {"start_frame": 576, "end_frame": 648, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the blue bottled laundry detergent from the first row of the shelf, rotate your waist, and place the bottle into the shopping cart."]}
{"task_id": "take_laundry_detergent_to_cart", "episode_index": 53, "video_path": "take_laundry_detergent_to_cart/videos/chunk-000/{video_key}/episode_000053.mp4", "tasks": ["Take laundry detergent to cart."], "length": 589, "action_config": [{"start_frame": 0, "end_frame": 185, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 185, "end_frame": 305, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 305, "end_frame": 399, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 399, "end_frame": 456, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up a blue bottled laundry detergent from the shelf and rotated its waist."}, {"start_frame": 456, "end_frame": 507, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}, {"start_frame": 507, "end_frame": 589, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the blue bottled laundry detergent from the first row of the shelf, rotate your waist, and place the bottle into the shopping cart."]}
{"task_id": "take_laundry_detergent_to_cart", "episode_index": 54, "video_path": "take_laundry_detergent_to_cart/videos/chunk-000/{video_key}/episode_000054.mp4", "tasks": ["Take laundry detergent to cart."], "length": 609, "action_config": [{"start_frame": 0, "end_frame": 167, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 167, "end_frame": 299, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 299, "end_frame": 410, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 410, "end_frame": 491, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up a blue bottled laundry detergent from the shelf and rotated its waist."}, {"start_frame": 491, "end_frame": 540, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}, {"start_frame": 540, "end_frame": 609, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the blue bottled laundry detergent from the first row of the shelf, rotate your waist, and place the bottle into the shopping cart."]}
{"task_id": "take_laundry_detergent_to_cart", "episode_index": 55, "video_path": "take_laundry_detergent_to_cart/videos/chunk-000/{video_key}/episode_000055.mp4", "tasks": ["Take laundry detergent to cart."], "length": 685, "action_config": [{"start_frame": 0, "end_frame": 181, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 181, "end_frame": 324, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 324, "end_frame": 431, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 431, "end_frame": 498, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up a blue bottled laundry detergent from the shelf and rotated its waist."}, {"start_frame": 498, "end_frame": 571, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}, {"start_frame": 571, "end_frame": 685, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the blue bottled laundry detergent from the first row of the shelf, rotate your waist, and place the bottle into the shopping cart."]}
{"task_id": "take_laundry_detergent_to_cart", "episode_index": 56, "video_path": "take_laundry_detergent_to_cart/videos/chunk-000/{video_key}/episode_000056.mp4", "tasks": ["Take laundry detergent to cart."], "length": 1010, "action_config": [{"start_frame": 0, "end_frame": 282, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 282, "end_frame": 593, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 593, "end_frame": 696, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 696, "end_frame": 804, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up a blue bottled laundry detergent from the shelf and rotated its waist."}, {"start_frame": 804, "end_frame": 881, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}, {"start_frame": 881, "end_frame": 1010, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the blue bottled laundry detergent from the first row of the shelf, rotate your waist, and place the bottle into the shopping cart."]}
{"task_id": "take_laundry_detergent_to_cart", "episode_index": 57, "video_path": "take_laundry_detergent_to_cart/videos/chunk-000/{video_key}/episode_000057.mp4", "tasks": ["Take laundry detergent to cart."], "length": 723, "action_config": [{"start_frame": 0, "end_frame": 191, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 191, "end_frame": 338, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 338, "end_frame": 450, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 450, "end_frame": 528, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up a blue bottled laundry detergent from the shelf and rotated its waist."}, {"start_frame": 528, "end_frame": 600, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}, {"start_frame": 600, "end_frame": 723, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the blue bottled laundry detergent from the first row of the shelf, rotate your waist, and place the bottle into the shopping cart."]}
{"task_id": "take_laundry_detergent_to_cart", "episode_index": 58, "video_path": "take_laundry_detergent_to_cart/videos/chunk-000/{video_key}/episode_000058.mp4", "tasks": ["Take laundry detergent to cart."], "length": 697, "action_config": [{"start_frame": 0, "end_frame": 222, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 222, "end_frame": 318, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 318, "end_frame": 423, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 423, "end_frame": 525, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up a blue bottled laundry detergent from the shelf and rotated its waist."}, {"start_frame": 525, "end_frame": 609, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}, {"start_frame": 609, "end_frame": 697, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the blue bottled laundry detergent from the first row of the shelf, rotate your waist, and place the bottle into the shopping cart."]}
{"task_id": "take_laundry_detergent_to_cart", "episode_index": 59, "video_path": "take_laundry_detergent_to_cart/videos/chunk-000/{video_key}/episode_000059.mp4", "tasks": ["Take laundry detergent to cart."], "length": 632, "action_config": [{"start_frame": 0, "end_frame": 156, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 156, "end_frame": 318, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 318, "end_frame": 423, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 423, "end_frame": 492, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up a blue bottled laundry detergent from the shelf and rotated its waist."}, {"start_frame": 492, "end_frame": 551, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}, {"start_frame": 551, "end_frame": 632, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the blue bottled laundry detergent from the first row of the shelf, rotate your waist, and place the bottle into the shopping cart."]}
{"task_id": "take_laundry_detergent_to_cart", "episode_index": 60, "video_path": "take_laundry_detergent_to_cart/videos/chunk-000/{video_key}/episode_000060.mp4", "tasks": ["Take laundry detergent to cart."], "length": 692, "action_config": [{"start_frame": 0, "end_frame": 207, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 207, "end_frame": 378, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 378, "end_frame": 467, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 467, "end_frame": 549, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up a blue bottled laundry detergent from the shelf and rotated its waist."}, {"start_frame": 549, "end_frame": 624, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}, {"start_frame": 624, "end_frame": 692, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the blue bottled laundry detergent from the first row of the shelf, rotate your waist, and place the bottle into the shopping cart."]}
{"task_id": "take_laundry_detergent_to_cart", "episode_index": 61, "video_path": "take_laundry_detergent_to_cart/videos/chunk-000/{video_key}/episode_000061.mp4", "tasks": ["Take laundry detergent to cart."], "length": 599, "action_config": [{"start_frame": 0, "end_frame": 191, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 191, "end_frame": 326, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 326, "end_frame": 417, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 417, "end_frame": 498, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up a blue bottled laundry detergent from the shelf and rotated its waist."}, {"start_frame": 498, "end_frame": 524, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}, {"start_frame": 524, "end_frame": 599, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the blue bottled laundry detergent from the first row of the shelf, rotate your waist, and place the bottle into the shopping cart."]}
{"task_id": "take_laundry_detergent_to_cart", "episode_index": 62, "video_path": "take_laundry_detergent_to_cart/videos/chunk-000/{video_key}/episode_000062.mp4", "tasks": ["Take laundry detergent to cart."], "length": 619, "action_config": [{"start_frame": 0, "end_frame": 194, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 194, "end_frame": 287, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 287, "end_frame": 381, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 381, "end_frame": 461, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up a blue bottled laundry detergent from the shelf and rotated its waist."}, {"start_frame": 461, "end_frame": 545, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}, {"start_frame": 545, "end_frame": 619, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the blue bottled laundry detergent from the first row of the shelf, rotate your waist, and place the bottle into the shopping cart."]}
{"task_id": "take_laundry_detergent_to_cart", "episode_index": 63, "video_path": "take_laundry_detergent_to_cart/videos/chunk-000/{video_key}/episode_000063.mp4", "tasks": ["Take laundry detergent to cart."], "length": 777, "action_config": [{"start_frame": 0, "end_frame": 246, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 246, "end_frame": 462, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 462, "end_frame": 569, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 569, "end_frame": 639, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up a blue bottled laundry detergent from the shelf and rotated its waist."}, {"start_frame": 639, "end_frame": 711, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}, {"start_frame": 711, "end_frame": 777, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the blue bottled laundry detergent from the first row of the shelf, rotate your waist, and place the bottle into the shopping cart."]}
{"task_id": "take_laundry_detergent_to_cart", "episode_index": 64, "video_path": "take_laundry_detergent_to_cart/videos/chunk-000/{video_key}/episode_000064.mp4", "tasks": ["Take laundry detergent to cart."], "length": 659, "action_config": [{"start_frame": 0, "end_frame": 204, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 204, "end_frame": 339, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 339, "end_frame": 419, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 419, "end_frame": 515, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up a blue bottled laundry detergent from the shelf and rotated its waist."}, {"start_frame": 515, "end_frame": 582, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}, {"start_frame": 582, "end_frame": 659, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the blue bottled laundry detergent from the first row of the shelf, rotate your waist, and place the bottle into the shopping cart."]}
{"task_id": "take_laundry_detergent_to_cart", "episode_index": 65, "video_path": "take_laundry_detergent_to_cart/videos/chunk-000/{video_key}/episode_000065.mp4", "tasks": ["Take laundry detergent to cart."], "length": 555, "action_config": [{"start_frame": 0, "end_frame": 147, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 147, "end_frame": 264, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 264, "end_frame": 336, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 336, "end_frame": 404, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up a blue bottled laundry detergent from the shelf and rotated its waist."}, {"start_frame": 404, "end_frame": 471, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}, {"start_frame": 471, "end_frame": 555, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the blue bottled laundry detergent from the first row of the shelf, rotate your waist, and place the bottle into the shopping cart."]}
{"task_id": "take_laundry_detergent_to_cart", "episode_index": 66, "video_path": "take_laundry_detergent_to_cart/videos/chunk-000/{video_key}/episode_000066.mp4", "tasks": ["Take laundry detergent to cart."], "length": 954, "action_config": [{"start_frame": 0, "end_frame": 302, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 302, "end_frame": 542, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 542, "end_frame": 657, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 657, "end_frame": 768, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up a blue bottled laundry detergent from the shelf and rotated its waist."}, {"start_frame": 768, "end_frame": 839, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}, {"start_frame": 839, "end_frame": 954, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the blue bottled laundry detergent from the first row of the shelf, rotate your waist, and place the bottle into the shopping cart."]}
{"task_id": "take_laundry_detergent_to_cart", "episode_index": 67, "video_path": "take_laundry_detergent_to_cart/videos/chunk-000/{video_key}/episode_000067.mp4", "tasks": ["Take laundry detergent to cart."], "length": 701, "action_config": [{"start_frame": 0, "end_frame": 198, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 198, "end_frame": 345, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 345, "end_frame": 452, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 452, "end_frame": 525, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up a blue bottled laundry detergent from the shelf and rotated its waist."}, {"start_frame": 525, "end_frame": 635, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}, {"start_frame": 635, "end_frame": 701, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the blue bottled laundry detergent from the first row of the shelf, rotate your waist, and place the bottle into the shopping cart."]}
{"task_id": "take_laundry_detergent_to_cart", "episode_index": 68, "video_path": "take_laundry_detergent_to_cart/videos/chunk-000/{video_key}/episode_000068.mp4", "tasks": ["Take laundry detergent to cart."], "length": 585, "action_config": [{"start_frame": 0, "end_frame": 162, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 162, "end_frame": 282, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 282, "end_frame": 377, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 377, "end_frame": 464, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up a blue bottled laundry detergent from the shelf and rotated its waist."}, {"start_frame": 464, "end_frame": 509, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}, {"start_frame": 509, "end_frame": 585, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the blue bottled laundry detergent from the first row of the shelf, rotate your waist, and place the bottle into the shopping cart."]}
{"task_id": "take_laundry_detergent_to_cart", "episode_index": 69, "video_path": "take_laundry_detergent_to_cart/videos/chunk-000/{video_key}/episode_000069.mp4", "tasks": ["Take laundry detergent to cart."], "length": 783, "action_config": [{"start_frame": 0, "end_frame": 261, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 261, "end_frame": 402, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 402, "end_frame": 522, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 522, "end_frame": 615, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up a blue bottled laundry detergent from the shelf and rotated its waist."}, {"start_frame": 615, "end_frame": 687, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}, {"start_frame": 687, "end_frame": 783, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the blue bottled laundry detergent from the first row of the shelf, rotate your waist, and place the bottle into the shopping cart."]}
{"task_id": "take_laundry_detergent_to_cart", "episode_index": 70, "video_path": "take_laundry_detergent_to_cart/videos/chunk-000/{video_key}/episode_000070.mp4", "tasks": ["Take laundry detergent to cart."], "length": 587, "action_config": [{"start_frame": 0, "end_frame": 153, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 153, "end_frame": 305, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 305, "end_frame": 417, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 417, "end_frame": 474, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up a blue bottled laundry detergent from the shelf and rotated its waist."}, {"start_frame": 474, "end_frame": 519, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}, {"start_frame": 519, "end_frame": 587, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the blue bottled laundry detergent from the first row of the shelf, rotate your waist, and place the bottle into the shopping cart."]}
{"task_id": "take_laundry_detergent_to_cart", "episode_index": 71, "video_path": "take_laundry_detergent_to_cart/videos/chunk-000/{video_key}/episode_000071.mp4", "tasks": ["Take laundry detergent to cart."], "length": 733, "action_config": [{"start_frame": 0, "end_frame": 180, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 180, "end_frame": 323, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 323, "end_frame": 456, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 456, "end_frame": 566, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up a blue bottled laundry detergent from the shelf and rotated its waist."}, {"start_frame": 566, "end_frame": 627, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}, {"start_frame": 627, "end_frame": 733, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the blue bottled laundry detergent from the first row of the shelf, rotate your waist, and place the bottle into the shopping cart."]}
{"task_id": "take_laundry_detergent_to_cart", "episode_index": 72, "video_path": "take_laundry_detergent_to_cart/videos/chunk-000/{video_key}/episode_000072.mp4", "tasks": ["Take laundry detergent to cart."], "length": 753, "action_config": [{"start_frame": 0, "end_frame": 210, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 210, "end_frame": 362, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 362, "end_frame": 495, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 495, "end_frame": 570, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up a blue bottled laundry detergent from the shelf and rotated its waist."}, {"start_frame": 570, "end_frame": 632, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}, {"start_frame": 632, "end_frame": 753, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the blue bottled laundry detergent from the first row of the shelf, rotate your waist, and place the bottle into the shopping cart."]}
{"task_id": "take_laundry_detergent_to_cart", "episode_index": 73, "video_path": "take_laundry_detergent_to_cart/videos/chunk-000/{video_key}/episode_000073.mp4", "tasks": ["Take laundry detergent to cart."], "length": 794, "action_config": [{"start_frame": 0, "end_frame": 253, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 253, "end_frame": 435, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 435, "end_frame": 546, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 546, "end_frame": 608, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up a blue bottled laundry detergent from the shelf and rotated its waist."}, {"start_frame": 608, "end_frame": 684, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}, {"start_frame": 684, "end_frame": 794, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the blue bottled laundry detergent from the first row of the shelf, rotate your waist, and place the bottle into the shopping cart."]}
{"task_id": "take_laundry_detergent_to_cart", "episode_index": 74, "video_path": "take_laundry_detergent_to_cart/videos/chunk-000/{video_key}/episode_000074.mp4", "tasks": ["Take laundry detergent to cart."], "length": 653, "action_config": [{"start_frame": 0, "end_frame": 192, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 192, "end_frame": 315, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 315, "end_frame": 417, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 417, "end_frame": 498, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up a blue bottled laundry detergent from the shelf and rotated its waist."}, {"start_frame": 498, "end_frame": 557, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}, {"start_frame": 557, "end_frame": 653, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the blue bottled laundry detergent from the first row of the shelf, rotate your waist, and place the bottle into the shopping cart."]}
{"task_id": "take_laundry_detergent_to_cart", "episode_index": 75, "video_path": "take_laundry_detergent_to_cart/videos/chunk-000/{video_key}/episode_000075.mp4", "tasks": ["Take laundry detergent to cart."], "length": 652, "action_config": [{"start_frame": 0, "end_frame": 161, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 161, "end_frame": 270, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 270, "end_frame": 387, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 387, "end_frame": 474, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up a blue bottled laundry detergent from the shelf and rotated its waist."}, {"start_frame": 474, "end_frame": 560, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}, {"start_frame": 560, "end_frame": 652, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the blue bottled laundry detergent from the first row of the shelf, rotate your waist, and place the bottle into the shopping cart."]}
{"task_id": "take_laundry_detergent_to_cart", "episode_index": 76, "video_path": "take_laundry_detergent_to_cart/videos/chunk-000/{video_key}/episode_000076.mp4", "tasks": ["Take laundry detergent to cart."], "length": 727, "action_config": [{"start_frame": 0, "end_frame": 251, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 251, "end_frame": 407, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 407, "end_frame": 513, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 513, "end_frame": 581, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up a blue bottled laundry detergent from the shelf and rotated its waist."}, {"start_frame": 581, "end_frame": 662, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}, {"start_frame": 662, "end_frame": 727, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the blue bottled laundry detergent from the first row of the shelf, rotate your waist, and place the bottle into the shopping cart."]}
{"task_id": "take_laundry_detergent_to_cart", "episode_index": 77, "video_path": "take_laundry_detergent_to_cart/videos/chunk-000/{video_key}/episode_000077.mp4", "tasks": ["Take laundry detergent to cart."], "length": 612, "action_config": [{"start_frame": 0, "end_frame": 150, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 150, "end_frame": 342, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 342, "end_frame": 411, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 411, "end_frame": 483, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up a blue bottled laundry detergent from the shelf and rotated its waist."}, {"start_frame": 483, "end_frame": 531, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}, {"start_frame": 531, "end_frame": 612, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the blue bottled laundry detergent from the first row of the shelf, rotate your waist, and place the bottle into the shopping cart."]}
{"task_id": "take_laundry_detergent_to_cart", "episode_index": 78, "video_path": "take_laundry_detergent_to_cart/videos/chunk-000/{video_key}/episode_000078.mp4", "tasks": ["Take laundry detergent to cart."], "length": 769, "action_config": [{"start_frame": 0, "end_frame": 231, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 231, "end_frame": 402, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 402, "end_frame": 501, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 501, "end_frame": 615, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up a blue bottled laundry detergent from the shelf and rotated its waist."}, {"start_frame": 615, "end_frame": 689, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}, {"start_frame": 689, "end_frame": 769, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the blue bottled laundry detergent from the first row of the shelf, rotate your waist, and place the bottle into the shopping cart."]}
{"task_id": "take_laundry_detergent_to_cart", "episode_index": 79, "video_path": "take_laundry_detergent_to_cart/videos/chunk-000/{video_key}/episode_000079.mp4", "tasks": ["Take laundry detergent to cart."], "length": 690, "action_config": [{"start_frame": 0, "end_frame": 221, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 221, "end_frame": 359, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 359, "end_frame": 465, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 465, "end_frame": 549, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up a blue bottled laundry detergent from the shelf and rotated its waist."}, {"start_frame": 549, "end_frame": 612, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}, {"start_frame": 612, "end_frame": 690, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the blue bottled laundry detergent from the first row of the shelf, rotate your waist, and place the bottle into the shopping cart."]}
{"task_id": "take_laundry_detergent_to_cart", "episode_index": 80, "video_path": "take_laundry_detergent_to_cart/videos/chunk-000/{video_key}/episode_000080.mp4", "tasks": ["Take laundry detergent to cart."], "length": 992, "action_config": [{"start_frame": 0, "end_frame": 251, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 251, "end_frame": 444, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 444, "end_frame": 558, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 558, "end_frame": 657, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up a blue bottled laundry detergent from the shelf and rotated its waist."}, {"start_frame": 657, "end_frame": 767, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}, {"start_frame": 767, "end_frame": 992, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the blue bottled laundry detergent from the first row of the shelf, rotate your waist, and place the bottle into the shopping cart."]}
{"task_id": "take_laundry_detergent_to_cart", "episode_index": 81, "video_path": "take_laundry_detergent_to_cart/videos/chunk-000/{video_key}/episode_000081.mp4", "tasks": ["Take laundry detergent to cart."], "length": 878, "action_config": [{"start_frame": 0, "end_frame": 282, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 282, "end_frame": 504, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 504, "end_frame": 624, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 624, "end_frame": 718, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up a blue bottled laundry detergent from the shelf and rotated its waist."}, {"start_frame": 718, "end_frame": 779, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}, {"start_frame": 779, "end_frame": 878, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the blue bottled laundry detergent from the first row of the shelf, rotate your waist, and place the bottle into the shopping cart."]}
{"task_id": "take_laundry_detergent_to_cart", "episode_index": 82, "video_path": "take_laundry_detergent_to_cart/videos/chunk-000/{video_key}/episode_000082.mp4", "tasks": ["Take laundry detergent to cart."], "length": 719, "action_config": [{"start_frame": 0, "end_frame": 227, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 227, "end_frame": 390, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 390, "end_frame": 483, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 483, "end_frame": 549, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up a blue bottled laundry detergent from the shelf and rotated its waist."}, {"start_frame": 549, "end_frame": 645, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}, {"start_frame": 645, "end_frame": 719, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the blue bottled laundry detergent from the first row of the shelf, rotate your waist, and place the bottle into the shopping cart."]}
{"task_id": "take_laundry_detergent_to_cart", "episode_index": 83, "video_path": "take_laundry_detergent_to_cart/videos/chunk-000/{video_key}/episode_000083.mp4", "tasks": ["Take laundry detergent to cart."], "length": 609, "action_config": [{"start_frame": 0, "end_frame": 179, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 179, "end_frame": 351, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 351, "end_frame": 446, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 446, "end_frame": 498, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up a blue bottled laundry detergent from the shelf and rotated its waist."}, {"start_frame": 498, "end_frame": 545, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}, {"start_frame": 545, "end_frame": 609, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the blue bottled laundry detergent from the first row of the shelf, rotate your waist, and place the bottle into the shopping cart."]}
{"task_id": "take_laundry_detergent_to_cart", "episode_index": 84, "video_path": "take_laundry_detergent_to_cart/videos/chunk-000/{video_key}/episode_000084.mp4", "tasks": ["Take laundry detergent to cart."], "length": 712, "action_config": [{"start_frame": 0, "end_frame": 215, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 215, "end_frame": 371, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 371, "end_frame": 480, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 480, "end_frame": 552, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up a blue bottled laundry detergent from the shelf and rotated its waist."}, {"start_frame": 552, "end_frame": 636, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}, {"start_frame": 636, "end_frame": 712, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the blue bottled laundry detergent from the first row of the shelf, rotate your waist, and place the bottle into the shopping cart."]}
{"task_id": "take_laundry_detergent_to_cart", "episode_index": 85, "video_path": "take_laundry_detergent_to_cart/videos/chunk-000/{video_key}/episode_000085.mp4", "tasks": ["Take laundry detergent to cart."], "length": 623, "action_config": [{"start_frame": 0, "end_frame": 177, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 177, "end_frame": 321, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 321, "end_frame": 426, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 426, "end_frame": 491, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up a blue bottled laundry detergent from the shelf and rotated its waist."}, {"start_frame": 491, "end_frame": 539, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}, {"start_frame": 539, "end_frame": 623, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the blue bottled laundry detergent from the first row of the shelf, rotate your waist, and place the bottle into the shopping cart."]}
{"task_id": "take_laundry_detergent_to_cart", "episode_index": 86, "video_path": "take_laundry_detergent_to_cart/videos/chunk-000/{video_key}/episode_000086.mp4", "tasks": ["Take laundry detergent to cart."], "length": 653, "action_config": [{"start_frame": 0, "end_frame": 189, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 189, "end_frame": 312, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 312, "end_frame": 422, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 422, "end_frame": 498, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up a blue bottled laundry detergent from the shelf and rotated its waist."}, {"start_frame": 498, "end_frame": 570, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}, {"start_frame": 570, "end_frame": 653, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the blue bottled laundry detergent from the first row of the shelf, rotate your waist, and place the bottle into the shopping cart."]}
{"task_id": "take_laundry_detergent_to_cart", "episode_index": 87, "video_path": "take_laundry_detergent_to_cart/videos/chunk-000/{video_key}/episode_000087.mp4", "tasks": ["Take laundry detergent to cart."], "length": 732, "action_config": [{"start_frame": 0, "end_frame": 231, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 231, "end_frame": 390, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 390, "end_frame": 509, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 509, "end_frame": 591, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up a blue bottled laundry detergent from the shelf and rotated its waist."}, {"start_frame": 591, "end_frame": 650, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}, {"start_frame": 650, "end_frame": 732, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the blue bottled laundry detergent from the first row of the shelf, rotate your waist, and place the bottle into the shopping cart."]}
{"task_id": "take_laundry_detergent_to_cart", "episode_index": 88, "video_path": "take_laundry_detergent_to_cart/videos/chunk-000/{video_key}/episode_000088.mp4", "tasks": ["Take laundry detergent to cart."], "length": 790, "action_config": [{"start_frame": 0, "end_frame": 198, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 198, "end_frame": 385, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 385, "end_frame": 507, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 507, "end_frame": 570, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up a blue bottled laundry detergent from the shelf and rotated its waist."}, {"start_frame": 570, "end_frame": 681, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}, {"start_frame": 681, "end_frame": 790, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the blue bottled laundry detergent from the first row of the shelf, rotate your waist, and place the bottle into the shopping cart."]}
{"task_id": "take_laundry_detergent_to_cart", "episode_index": 89, "video_path": "take_laundry_detergent_to_cart/videos/chunk-000/{video_key}/episode_000089.mp4", "tasks": ["Take laundry detergent to cart."], "length": 680, "action_config": [{"start_frame": 0, "end_frame": 156, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 156, "end_frame": 321, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 321, "end_frame": 443, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 443, "end_frame": 531, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up a blue bottled laundry detergent from the shelf and rotated its waist."}, {"start_frame": 531, "end_frame": 602, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}, {"start_frame": 602, "end_frame": 680, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the blue bottled laundry detergent from the first row of the shelf, rotate your waist, and place the bottle into the shopping cart."]}
{"task_id": "take_laundry_detergent_to_cart", "episode_index": 90, "video_path": "take_laundry_detergent_to_cart/videos/chunk-000/{video_key}/episode_000090.mp4", "tasks": ["Take laundry detergent to cart."], "length": 551, "action_config": [{"start_frame": 0, "end_frame": 164, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 164, "end_frame": 285, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 285, "end_frame": 378, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 378, "end_frame": 432, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up a blue bottled laundry detergent from the shelf and rotated its waist."}, {"start_frame": 432, "end_frame": 491, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}, {"start_frame": 491, "end_frame": 551, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the blue bottled laundry detergent from the first row of the shelf, rotate your waist, and place the bottle into the shopping cart."]}
{"task_id": "take_laundry_detergent_to_cart", "episode_index": 91, "video_path": "take_laundry_detergent_to_cart/videos/chunk-000/{video_key}/episode_000091.mp4", "tasks": ["Take laundry detergent to cart."], "length": 847, "action_config": [{"start_frame": 0, "end_frame": 237, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 237, "end_frame": 399, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 399, "end_frame": 503, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 503, "end_frame": 609, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up a blue bottled laundry detergent from the shelf and rotated its waist."}, {"start_frame": 609, "end_frame": 714, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}, {"start_frame": 714, "end_frame": 847, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the blue bottled laundry detergent from the first row of the shelf, rotate your waist, and place the bottle into the shopping cart."]}
{"task_id": "take_laundry_detergent_to_cart", "episode_index": 92, "video_path": "take_laundry_detergent_to_cart/videos/chunk-000/{video_key}/episode_000092.mp4", "tasks": ["Take laundry detergent to cart."], "length": 719, "action_config": [{"start_frame": 0, "end_frame": 219, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 219, "end_frame": 369, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 369, "end_frame": 491, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 491, "end_frame": 566, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up a blue bottled laundry detergent from the shelf and rotated its waist."}, {"start_frame": 566, "end_frame": 630, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}, {"start_frame": 630, "end_frame": 719, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the blue bottled laundry detergent from the first row of the shelf, rotate your waist, and place the bottle into the shopping cart."]}
{"task_id": "take_laundry_detergent_to_cart", "episode_index": 93, "video_path": "take_laundry_detergent_to_cart/videos/chunk-000/{video_key}/episode_000093.mp4", "tasks": ["Take laundry detergent to cart."], "length": 1010, "action_config": [{"start_frame": 0, "end_frame": 351, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 351, "end_frame": 534, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 534, "end_frame": 659, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 659, "end_frame": 768, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up a blue bottled laundry detergent from the shelf and rotated its waist."}, {"start_frame": 768, "end_frame": 879, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}, {"start_frame": 879, "end_frame": 1010, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the blue bottled laundry detergent from the first row of the shelf, rotate your waist, and place the bottle into the shopping cart."]}
{"task_id": "take_laundry_detergent_to_cart", "episode_index": 94, "video_path": "take_laundry_detergent_to_cart/videos/chunk-000/{video_key}/episode_000094.mp4", "tasks": ["Take laundry detergent to cart."], "length": 705, "action_config": [{"start_frame": 0, "end_frame": 230, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 230, "end_frame": 368, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 368, "end_frame": 472, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 472, "end_frame": 540, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up a blue bottled laundry detergent from the shelf and rotated its waist."}, {"start_frame": 540, "end_frame": 617, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}, {"start_frame": 617, "end_frame": 705, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the blue bottled laundry detergent from the first row of the shelf, rotate your waist, and place the bottle into the shopping cart."]}
{"task_id": "take_laundry_detergent_to_cart", "episode_index": 95, "video_path": "take_laundry_detergent_to_cart/videos/chunk-000/{video_key}/episode_000095.mp4", "tasks": ["Take laundry detergent to cart."], "length": 609, "action_config": [{"start_frame": 0, "end_frame": 162, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 162, "end_frame": 270, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 270, "end_frame": 375, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 375, "end_frame": 444, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up a blue bottled laundry detergent from the shelf and rotated its waist."}, {"start_frame": 444, "end_frame": 528, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}, {"start_frame": 528, "end_frame": 609, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the blue bottled laundry detergent from the first row of the shelf, rotate your waist, and place the bottle into the shopping cart."]}
{"task_id": "take_laundry_detergent_to_cart", "episode_index": 96, "video_path": "take_laundry_detergent_to_cart/videos/chunk-000/{video_key}/episode_000096.mp4", "tasks": ["Take laundry detergent to cart."], "length": 592, "action_config": [{"start_frame": 0, "end_frame": 162, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 162, "end_frame": 300, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 300, "end_frame": 402, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 402, "end_frame": 476, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up a blue bottled laundry detergent from the shelf and rotated its waist."}, {"start_frame": 476, "end_frame": 522, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}, {"start_frame": 522, "end_frame": 592, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the blue bottled laundry detergent from the first row of the shelf, rotate your waist, and place the bottle into the shopping cart."]}
{"task_id": "take_laundry_detergent_to_cart", "episode_index": 97, "video_path": "take_laundry_detergent_to_cart/videos/chunk-000/{video_key}/episode_000097.mp4", "tasks": ["Take laundry detergent to cart."], "length": 688, "action_config": [{"start_frame": 0, "end_frame": 174, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 174, "end_frame": 303, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 303, "end_frame": 401, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 401, "end_frame": 471, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up a blue bottled laundry detergent from the shelf and rotated its waist."}, {"start_frame": 471, "end_frame": 596, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}, {"start_frame": 596, "end_frame": 688, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the blue bottled laundry detergent from the first row of the shelf, rotate your waist, and place the bottle into the shopping cart."]}
{"task_id": "take_laundry_detergent_to_cart", "episode_index": 98, "video_path": "take_laundry_detergent_to_cart/videos/chunk-000/{video_key}/episode_000098.mp4", "tasks": ["Take laundry detergent to cart."], "length": 740, "action_config": [{"start_frame": 0, "end_frame": 236, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 236, "end_frame": 408, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 408, "end_frame": 522, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 522, "end_frame": 615, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up a blue bottled laundry detergent from the shelf and rotated its waist."}, {"start_frame": 615, "end_frame": 689, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}, {"start_frame": 689, "end_frame": 740, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the blue bottled laundry detergent from the first row of the shelf, rotate your waist, and place the bottle into the shopping cart."]}
{"task_id": "take_laundry_detergent_to_cart", "episode_index": 99, "video_path": "take_laundry_detergent_to_cart/videos/chunk-000/{video_key}/episode_000099.mp4", "tasks": ["Take laundry detergent to cart."], "length": 609, "action_config": [{"start_frame": 0, "end_frame": 144, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 144, "end_frame": 269, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 269, "end_frame": 389, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 389, "end_frame": 447, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up a blue bottled laundry detergent from the shelf and rotated its waist."}, {"start_frame": 447, "end_frame": 519, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}, {"start_frame": 519, "end_frame": 609, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the blue bottled laundry detergent from the first row of the shelf, rotate your waist, and place the bottle into the shopping cart."]}
{"task_id": "take_laundry_detergent_to_cart", "episode_index": 100, "video_path": "take_laundry_detergent_to_cart/videos/chunk-000/{video_key}/episode_000100.mp4", "tasks": ["Take laundry detergent to cart."], "length": 883, "action_config": [{"start_frame": 0, "end_frame": 291, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 291, "end_frame": 420, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 420, "end_frame": 528, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 528, "end_frame": 623, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up a blue bottled laundry detergent from the shelf and rotated its waist."}, {"start_frame": 623, "end_frame": 792, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}, {"start_frame": 792, "end_frame": 883, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the blue bottled laundry detergent from the first row of the shelf, rotate your waist, and place the bottle into the shopping cart."]}
{"task_id": "take_laundry_detergent_to_cart", "episode_index": 101, "video_path": "take_laundry_detergent_to_cart/videos/chunk-000/{video_key}/episode_000101.mp4", "tasks": ["Take laundry detergent to cart."], "length": 573, "action_config": [{"start_frame": 0, "end_frame": 183, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 183, "end_frame": 295, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 295, "end_frame": 406, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 406, "end_frame": 462, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up a blue bottled laundry detergent from the shelf and rotated its waist."}, {"start_frame": 462, "end_frame": 522, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}, {"start_frame": 522, "end_frame": 573, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the blue bottled laundry detergent from the first row of the shelf, rotate your waist, and place the bottle into the shopping cart."]}
{"task_id": "take_laundry_detergent_to_cart", "episode_index": 102, "video_path": "take_laundry_detergent_to_cart/videos/chunk-000/{video_key}/episode_000102.mp4", "tasks": ["Take laundry detergent to cart."], "length": 656, "action_config": [{"start_frame": 0, "end_frame": 197, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 197, "end_frame": 339, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 339, "end_frame": 444, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 444, "end_frame": 525, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up a blue bottled laundry detergent from the shelf and rotated its waist."}, {"start_frame": 525, "end_frame": 584, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}, {"start_frame": 584, "end_frame": 656, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the blue bottled laundry detergent from the first row of the shelf, rotate your waist, and place the bottle into the shopping cart."]}
{"task_id": "take_laundry_detergent_to_cart", "episode_index": 103, "video_path": "take_laundry_detergent_to_cart/videos/chunk-000/{video_key}/episode_000103.mp4", "tasks": ["Take laundry detergent to cart."], "length": 901, "action_config": [{"start_frame": 0, "end_frame": 213, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 213, "end_frame": 456, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 456, "end_frame": 570, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 570, "end_frame": 647, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up a blue bottled laundry detergent from the shelf and rotated its waist."}, {"start_frame": 647, "end_frame": 746, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}, {"start_frame": 746, "end_frame": 901, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the blue bottled laundry detergent from the first row of the shelf, rotate your waist, and place the bottle into the shopping cart."]}
{"task_id": "take_laundry_detergent_to_cart", "episode_index": 104, "video_path": "take_laundry_detergent_to_cart/videos/chunk-000/{video_key}/episode_000104.mp4", "tasks": ["Take laundry detergent to cart."], "length": 578, "action_config": [{"start_frame": 0, "end_frame": 168, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 168, "end_frame": 275, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 275, "end_frame": 375, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 375, "end_frame": 423, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up a blue bottled laundry detergent from the shelf and rotated its waist."}, {"start_frame": 423, "end_frame": 482, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}, {"start_frame": 482, "end_frame": 578, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the blue bottled laundry detergent from the first row of the shelf, rotate your waist, and place the bottle into the shopping cart."]}
{"task_id": "take_laundry_detergent_to_cart", "episode_index": 105, "video_path": "take_laundry_detergent_to_cart/videos/chunk-000/{video_key}/episode_000105.mp4", "tasks": ["Take laundry detergent to cart."], "length": 715, "action_config": [{"start_frame": 0, "end_frame": 203, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 203, "end_frame": 401, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 401, "end_frame": 501, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 501, "end_frame": 564, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up a blue bottled laundry detergent from the shelf and rotated its waist."}, {"start_frame": 564, "end_frame": 645, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}, {"start_frame": 645, "end_frame": 715, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the blue bottled laundry detergent from the first row of the shelf, rotate your waist, and place the bottle into the shopping cart."]}
{"task_id": "take_laundry_detergent_to_cart", "episode_index": 106, "video_path": "take_laundry_detergent_to_cart/videos/chunk-000/{video_key}/episode_000106.mp4", "tasks": ["Take laundry detergent to cart."], "length": 684, "action_config": [{"start_frame": 0, "end_frame": 183, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 183, "end_frame": 352, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 352, "end_frame": 455, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 455, "end_frame": 533, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up a blue bottled laundry detergent from the shelf and rotated its waist."}, {"start_frame": 533, "end_frame": 581, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}, {"start_frame": 581, "end_frame": 684, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the blue bottled laundry detergent from the first row of the shelf, rotate your waist, and place the bottle into the shopping cart."]}
{"task_id": "take_laundry_detergent_to_cart", "episode_index": 107, "video_path": "take_laundry_detergent_to_cart/videos/chunk-000/{video_key}/episode_000107.mp4", "tasks": ["Take laundry detergent to cart."], "length": 713, "action_config": [{"start_frame": 0, "end_frame": 210, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 210, "end_frame": 335, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 335, "end_frame": 434, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 434, "end_frame": 513, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up a blue bottled laundry detergent from the shelf and rotated its waist."}, {"start_frame": 513, "end_frame": 627, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}, {"start_frame": 627, "end_frame": 713, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the blue bottled laundry detergent from the first row of the shelf, rotate your waist, and place the bottle into the shopping cart."]}
{"task_id": "take_laundry_detergent_to_cart", "episode_index": 108, "video_path": "take_laundry_detergent_to_cart/videos/chunk-000/{video_key}/episode_000108.mp4", "tasks": ["Take laundry detergent to cart."], "length": 650, "action_config": [{"start_frame": 0, "end_frame": 188, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 188, "end_frame": 323, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 323, "end_frame": 426, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 426, "end_frame": 494, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up a blue bottled laundry detergent from the shelf and rotated its waist."}, {"start_frame": 494, "end_frame": 542, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}, {"start_frame": 542, "end_frame": 650, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the blue bottled laundry detergent from the first row of the shelf, rotate your waist, and place the bottle into the shopping cart."]}
{"task_id": "take_laundry_detergent_to_cart", "episode_index": 109, "video_path": "take_laundry_detergent_to_cart/videos/chunk-000/{video_key}/episode_000109.mp4", "tasks": ["Take laundry detergent to cart."], "length": 710, "action_config": [{"start_frame": 0, "end_frame": 171, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 171, "end_frame": 279, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 279, "end_frame": 402, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 402, "end_frame": 494, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up a blue bottled laundry detergent from the shelf and rotated its waist."}, {"start_frame": 494, "end_frame": 606, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}, {"start_frame": 606, "end_frame": 710, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the blue bottled laundry detergent from the first row of the shelf, rotate your waist, and place the bottle into the shopping cart."]}
{"task_id": "take_laundry_detergent_to_cart", "episode_index": 110, "video_path": "take_laundry_detergent_to_cart/videos/chunk-000/{video_key}/episode_000110.mp4", "tasks": ["Take laundry detergent to cart."], "length": 683, "action_config": [{"start_frame": 0, "end_frame": 195, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 195, "end_frame": 327, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 327, "end_frame": 440, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 440, "end_frame": 503, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up a blue bottled laundry detergent from the shelf and rotated its waist."}, {"start_frame": 503, "end_frame": 590, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}, {"start_frame": 590, "end_frame": 683, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the blue bottled laundry detergent from the first row of the shelf, rotate your waist, and place the bottle into the shopping cart."]}
{"task_id": "take_laundry_detergent_to_cart", "episode_index": 111, "video_path": "take_laundry_detergent_to_cart/videos/chunk-000/{video_key}/episode_000111.mp4", "tasks": ["Take laundry detergent to cart."], "length": 716, "action_config": [{"start_frame": 0, "end_frame": 224, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 224, "end_frame": 384, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 384, "end_frame": 480, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 480, "end_frame": 539, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up a blue bottled laundry detergent from the shelf and rotated its waist."}, {"start_frame": 539, "end_frame": 632, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}, {"start_frame": 632, "end_frame": 716, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the blue bottled laundry detergent from the first row of the shelf, rotate your waist, and place the bottle into the shopping cart."]}
{"task_id": "take_laundry_detergent_to_cart", "episode_index": 112, "video_path": "take_laundry_detergent_to_cart/videos/chunk-000/{video_key}/episode_000112.mp4", "tasks": ["Take laundry detergent to cart."], "length": 639, "action_config": [{"start_frame": 0, "end_frame": 165, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 165, "end_frame": 309, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 309, "end_frame": 465, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 465, "end_frame": 523, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up a blue bottled laundry detergent from the shelf and rotated its waist."}, {"start_frame": 523, "end_frame": 566, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}, {"start_frame": 566, "end_frame": 639, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the blue bottled laundry detergent from the first row of the shelf, rotate your waist, and place the bottle into the shopping cart."]}
{"task_id": "take_laundry_detergent_to_cart", "episode_index": 113, "video_path": "take_laundry_detergent_to_cart/videos/chunk-000/{video_key}/episode_000113.mp4", "tasks": ["Take laundry detergent to cart."], "length": 789, "action_config": [{"start_frame": 0, "end_frame": 285, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 285, "end_frame": 452, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 452, "end_frame": 573, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 573, "end_frame": 646, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up a blue bottled laundry detergent from the shelf and rotated its waist."}, {"start_frame": 646, "end_frame": 713, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}, {"start_frame": 713, "end_frame": 789, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the blue bottled laundry detergent from the first row of the shelf, rotate your waist, and place the bottle into the shopping cart."]}
{"task_id": "take_laundry_detergent_to_cart", "episode_index": 114, "video_path": "take_laundry_detergent_to_cart/videos/chunk-000/{video_key}/episode_000114.mp4", "tasks": ["Take laundry detergent to cart."], "length": 925, "action_config": [{"start_frame": 0, "end_frame": 264, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 264, "end_frame": 465, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 465, "end_frame": 584, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 584, "end_frame": 692, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up a blue bottled laundry detergent from the shelf and rotated its waist."}, {"start_frame": 692, "end_frame": 815, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}, {"start_frame": 815, "end_frame": 925, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the blue bottled laundry detergent from the first row of the shelf, rotate your waist, and place the bottle into the shopping cart."]}
{"task_id": "take_laundry_detergent_to_cart", "episode_index": 115, "video_path": "take_laundry_detergent_to_cart/videos/chunk-000/{video_key}/episode_000115.mp4", "tasks": ["Take laundry detergent to cart."], "length": 660, "action_config": [{"start_frame": 0, "end_frame": 170, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 170, "end_frame": 363, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 363, "end_frame": 468, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 468, "end_frame": 540, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up a blue bottled laundry detergent from the shelf and rotated its waist."}, {"start_frame": 540, "end_frame": 573, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}, {"start_frame": 573, "end_frame": 660, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the blue bottled laundry detergent from the first row of the shelf, rotate your waist, and place the bottle into the shopping cart."]}
{"task_id": "take_laundry_detergent_to_cart", "episode_index": 116, "video_path": "take_laundry_detergent_to_cart/videos/chunk-000/{video_key}/episode_000116.mp4", "tasks": ["Take laundry detergent to cart."], "length": 658, "action_config": [{"start_frame": 0, "end_frame": 209, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 209, "end_frame": 336, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 336, "end_frame": 430, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 430, "end_frame": 501, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up a blue bottled laundry detergent from the shelf and rotated its waist."}, {"start_frame": 501, "end_frame": 596, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}, {"start_frame": 596, "end_frame": 658, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the blue bottled laundry detergent from the first row of the shelf, rotate your waist, and place the bottle into the shopping cart."]}
{"task_id": "take_laundry_detergent_to_cart", "episode_index": 117, "video_path": "take_laundry_detergent_to_cart/videos/chunk-000/{video_key}/episode_000117.mp4", "tasks": ["Take laundry detergent to cart."], "length": 707, "action_config": [{"start_frame": 0, "end_frame": 216, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 216, "end_frame": 330, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 330, "end_frame": 450, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 450, "end_frame": 522, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up a blue bottled laundry detergent from the shelf and rotated its waist."}, {"start_frame": 522, "end_frame": 603, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}, {"start_frame": 603, "end_frame": 707, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the blue bottled laundry detergent from the first row of the shelf, rotate your waist, and place the bottle into the shopping cart."]}
{"task_id": "take_laundry_detergent_to_cart", "episode_index": 118, "video_path": "take_laundry_detergent_to_cart/videos/chunk-000/{video_key}/episode_000118.mp4", "tasks": ["Take laundry detergent to cart."], "length": 732, "action_config": [{"start_frame": 0, "end_frame": 252, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 252, "end_frame": 384, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 384, "end_frame": 507, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 507, "end_frame": 598, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up a blue bottled laundry detergent from the shelf and rotated its waist."}, {"start_frame": 598, "end_frame": 648, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}, {"start_frame": 648, "end_frame": 732, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the blue bottled laundry detergent from the first row of the shelf, rotate your waist, and place the bottle into the shopping cart."]}
{"task_id": "take_laundry_detergent_to_cart", "episode_index": 119, "video_path": "take_laundry_detergent_to_cart/videos/chunk-000/{video_key}/episode_000119.mp4", "tasks": ["Take laundry detergent to cart."], "length": 657, "action_config": [{"start_frame": 0, "end_frame": 225, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 225, "end_frame": 392, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 392, "end_frame": 478, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 478, "end_frame": 544, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up a blue bottled laundry detergent from the shelf and rotated its waist."}, {"start_frame": 544, "end_frame": 608, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}, {"start_frame": 608, "end_frame": 657, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the blue bottled laundry detergent from the first row of the shelf, rotate your waist, and place the bottle into the shopping cart."]}
{"task_id": "take_laundry_detergent_to_cart", "episode_index": 120, "video_path": "take_laundry_detergent_to_cart/videos/chunk-000/{video_key}/episode_000120.mp4", "tasks": ["Take laundry detergent to cart."], "length": 738, "action_config": [{"start_frame": 0, "end_frame": 213, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 213, "end_frame": 360, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 360, "end_frame": 486, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 486, "end_frame": 564, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up a blue bottled laundry detergent from the shelf and rotated its waist."}, {"start_frame": 564, "end_frame": 660, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}, {"start_frame": 660, "end_frame": 738, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the blue bottled laundry detergent from the first row of the shelf, rotate your waist, and place the bottle into the shopping cart."]}
{"task_id": "take_laundry_detergent_to_cart", "episode_index": 121, "video_path": "take_laundry_detergent_to_cart/videos/chunk-000/{video_key}/episode_000121.mp4", "tasks": ["Take laundry detergent to cart."], "length": 561, "action_config": [{"start_frame": 0, "end_frame": 168, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 168, "end_frame": 288, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 288, "end_frame": 378, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 378, "end_frame": 429, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up a blue bottled laundry detergent from the shelf and rotated its waist."}, {"start_frame": 429, "end_frame": 492, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}, {"start_frame": 492, "end_frame": 561, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the blue bottled laundry detergent from the first row of the shelf, rotate your waist, and place the bottle into the shopping cart."]}
{"task_id": "take_laundry_detergent_to_cart", "episode_index": 122, "video_path": "take_laundry_detergent_to_cart/videos/chunk-000/{video_key}/episode_000122.mp4", "tasks": ["Take laundry detergent to cart."], "length": 682, "action_config": [{"start_frame": 0, "end_frame": 155, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 155, "end_frame": 396, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 396, "end_frame": 489, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 489, "end_frame": 558, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up a blue bottled laundry detergent from the shelf and rotated its waist."}, {"start_frame": 558, "end_frame": 615, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}, {"start_frame": 615, "end_frame": 682, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the blue bottled laundry detergent from the first row of the shelf, rotate your waist, and place the bottle into the shopping cart."]}
{"task_id": "take_laundry_detergent_to_cart", "episode_index": 123, "video_path": "take_laundry_detergent_to_cart/videos/chunk-000/{video_key}/episode_000123.mp4", "tasks": ["Take laundry detergent to cart."], "length": 746, "action_config": [{"start_frame": 0, "end_frame": 236, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 236, "end_frame": 375, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 375, "end_frame": 498, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 498, "end_frame": 561, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up a blue bottled laundry detergent from the shelf and rotated its waist."}, {"start_frame": 561, "end_frame": 622, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}, {"start_frame": 622, "end_frame": 746, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the blue bottled laundry detergent from the first row of the shelf, rotate your waist, and place the bottle into the shopping cart."]}
{"task_id": "take_laundry_detergent_to_cart", "episode_index": 124, "video_path": "take_laundry_detergent_to_cart/videos/chunk-000/{video_key}/episode_000124.mp4", "tasks": ["Take laundry detergent to cart."], "length": 593, "action_config": [{"start_frame": 0, "end_frame": 186, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 186, "end_frame": 321, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 321, "end_frame": 414, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 414, "end_frame": 462, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up a blue bottled laundry detergent from the shelf and rotated its waist."}, {"start_frame": 462, "end_frame": 537, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}, {"start_frame": 537, "end_frame": 593, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the blue bottled laundry detergent from the first row of the shelf, rotate your waist, and place the bottle into the shopping cart."]}
{"task_id": "take_laundry_detergent_to_cart", "episode_index": 125, "video_path": "take_laundry_detergent_to_cart/videos/chunk-000/{video_key}/episode_000125.mp4", "tasks": ["Take laundry detergent to cart."], "length": 764, "action_config": [{"start_frame": 0, "end_frame": 224, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 224, "end_frame": 365, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 365, "end_frame": 477, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 477, "end_frame": 552, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up a blue bottled laundry detergent from the shelf and rotated its waist."}, {"start_frame": 552, "end_frame": 666, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}, {"start_frame": 666, "end_frame": 764, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the blue bottled laundry detergent from the first row of the shelf, rotate your waist, and place the bottle into the shopping cart."]}
{"task_id": "take_laundry_detergent_to_cart", "episode_index": 126, "video_path": "take_laundry_detergent_to_cart/videos/chunk-000/{video_key}/episode_000126.mp4", "tasks": ["Take laundry detergent to cart."], "length": 592, "action_config": [{"start_frame": 0, "end_frame": 161, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 161, "end_frame": 288, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 288, "end_frame": 372, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 372, "end_frame": 441, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up a blue bottled laundry detergent from the shelf and rotated its waist."}, {"start_frame": 441, "end_frame": 513, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}, {"start_frame": 513, "end_frame": 592, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the blue bottled laundry detergent from the first row of the shelf, rotate your waist, and place the bottle into the shopping cart."]}
{"task_id": "take_laundry_detergent_to_cart", "episode_index": 127, "video_path": "take_laundry_detergent_to_cart/videos/chunk-000/{video_key}/episode_000127.mp4", "tasks": ["Take laundry detergent to cart."], "length": 745, "action_config": [{"start_frame": 0, "end_frame": 219, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 219, "end_frame": 405, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 405, "end_frame": 522, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 522, "end_frame": 609, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up a blue bottled laundry detergent from the shelf and rotated its waist."}, {"start_frame": 609, "end_frame": 653, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}, {"start_frame": 653, "end_frame": 745, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the blue bottled laundry detergent from the first row of the shelf, rotate your waist, and place the bottle into the shopping cart."]}
{"task_id": "take_laundry_detergent_to_cart", "episode_index": 128, "video_path": "take_laundry_detergent_to_cart/videos/chunk-000/{video_key}/episode_000128.mp4", "tasks": ["Take laundry detergent to cart."], "length": 733, "action_config": [{"start_frame": 0, "end_frame": 235, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 235, "end_frame": 387, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 387, "end_frame": 478, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 478, "end_frame": 567, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up a blue bottled laundry detergent from the shelf and rotated its waist."}, {"start_frame": 567, "end_frame": 648, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}, {"start_frame": 648, "end_frame": 733, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the blue bottled laundry detergent from the first row of the shelf, rotate your waist, and place the bottle into the shopping cart."]}
{"task_id": "take_laundry_detergent_to_cart", "episode_index": 129, "video_path": "take_laundry_detergent_to_cart/videos/chunk-000/{video_key}/episode_000129.mp4", "tasks": ["Take laundry detergent to cart."], "length": 712, "action_config": [{"start_frame": 0, "end_frame": 226, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 226, "end_frame": 329, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 329, "end_frame": 426, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 426, "end_frame": 513, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up a blue bottled laundry detergent from the shelf and rotated its waist."}, {"start_frame": 513, "end_frame": 633, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}, {"start_frame": 633, "end_frame": 712, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the blue bottled laundry detergent from the first row of the shelf, rotate your waist, and place the bottle into the shopping cart."]}
{"task_id": "take_laundry_detergent_to_cart", "episode_index": 130, "video_path": "take_laundry_detergent_to_cart/videos/chunk-000/{video_key}/episode_000130.mp4", "tasks": ["Take laundry detergent to cart."], "length": 600, "action_config": [{"start_frame": 0, "end_frame": 152, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 152, "end_frame": 276, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 276, "end_frame": 370, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 370, "end_frame": 438, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up a blue bottled laundry detergent from the shelf and rotated its waist."}, {"start_frame": 438, "end_frame": 516, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}, {"start_frame": 516, "end_frame": 600, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the blue bottled laundry detergent from the first row of the shelf, rotate your waist, and place the bottle into the shopping cart."]}
{"task_id": "take_laundry_detergent_to_cart", "episode_index": 131, "video_path": "take_laundry_detergent_to_cart/videos/chunk-000/{video_key}/episode_000131.mp4", "tasks": ["Take laundry detergent to cart."], "length": 829, "action_config": [{"start_frame": 0, "end_frame": 245, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 245, "end_frame": 402, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 402, "end_frame": 531, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 531, "end_frame": 600, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up a blue bottled laundry detergent from the shelf and rotated its waist."}, {"start_frame": 600, "end_frame": 692, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}, {"start_frame": 692, "end_frame": 829, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the blue bottled laundry detergent from the first row of the shelf, rotate your waist, and place the bottle into the shopping cart."]}
{"task_id": "take_laundry_detergent_to_cart", "episode_index": 132, "video_path": "take_laundry_detergent_to_cart/videos/chunk-000/{video_key}/episode_000132.mp4", "tasks": ["Take laundry detergent to cart."], "length": 631, "action_config": [{"start_frame": 0, "end_frame": 213, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 213, "end_frame": 331, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 331, "end_frame": 417, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 417, "end_frame": 501, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up a blue bottled laundry detergent from the shelf and rotated its waist."}, {"start_frame": 501, "end_frame": 582, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}, {"start_frame": 582, "end_frame": 631, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the blue bottled laundry detergent from the first row of the shelf, rotate your waist, and place the bottle into the shopping cart."]}
{"task_id": "take_laundry_detergent_to_cart", "episode_index": 133, "video_path": "take_laundry_detergent_to_cart/videos/chunk-000/{video_key}/episode_000133.mp4", "tasks": ["Take laundry detergent to cart."], "length": 881, "action_config": [{"start_frame": 0, "end_frame": 297, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 297, "end_frame": 543, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 543, "end_frame": 625, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 625, "end_frame": 708, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up a blue bottled laundry detergent from the shelf and rotated its waist."}, {"start_frame": 708, "end_frame": 793, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}, {"start_frame": 793, "end_frame": 881, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the blue bottled laundry detergent from the first row of the shelf, rotate your waist, and place the bottle into the shopping cart."]}
{"task_id": "take_laundry_detergent_to_cart", "episode_index": 134, "video_path": "take_laundry_detergent_to_cart/videos/chunk-000/{video_key}/episode_000134.mp4", "tasks": ["Take laundry detergent to cart."], "length": 619, "action_config": [{"start_frame": 0, "end_frame": 180, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 180, "end_frame": 297, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 297, "end_frame": 404, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 404, "end_frame": 474, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up a blue bottled laundry detergent from the shelf and rotated its waist."}, {"start_frame": 474, "end_frame": 537, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}, {"start_frame": 537, "end_frame": 619, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the blue bottled laundry detergent from the first row of the shelf, rotate your waist, and place the bottle into the shopping cart."]}
{"task_id": "take_laundry_detergent_to_cart", "episode_index": 135, "video_path": "take_laundry_detergent_to_cart/videos/chunk-000/{video_key}/episode_000135.mp4", "tasks": ["Take laundry detergent to cart."], "length": 542, "action_config": [{"start_frame": 0, "end_frame": 145, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 145, "end_frame": 235, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 235, "end_frame": 322, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 322, "end_frame": 387, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up a blue bottled laundry detergent from the shelf and rotated its waist."}, {"start_frame": 387, "end_frame": 438, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}, {"start_frame": 438, "end_frame": 542, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the blue bottled laundry detergent from the first row of the shelf, rotate your waist, and place the bottle into the shopping cart."]}
{"task_id": "take_laundry_detergent_to_cart", "episode_index": 136, "video_path": "take_laundry_detergent_to_cart/videos/chunk-000/{video_key}/episode_000136.mp4", "tasks": ["Take laundry detergent to cart."], "length": 653, "action_config": [{"start_frame": 0, "end_frame": 215, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 215, "end_frame": 389, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 389, "end_frame": 467, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 467, "end_frame": 521, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up a blue bottled laundry detergent from the shelf and rotated its waist."}, {"start_frame": 521, "end_frame": 561, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}, {"start_frame": 561, "end_frame": 653, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the blue bottled laundry detergent from the first row of the shelf, rotate your waist, and place the bottle into the shopping cart."]}
{"task_id": "take_laundry_detergent_to_cart", "episode_index": 137, "video_path": "take_laundry_detergent_to_cart/videos/chunk-000/{video_key}/episode_000137.mp4", "tasks": ["Take laundry detergent to cart."], "length": 681, "action_config": [{"start_frame": 0, "end_frame": 175, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 175, "end_frame": 358, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 358, "end_frame": 435, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 435, "end_frame": 502, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up a blue bottled laundry detergent from the shelf and rotated its waist."}, {"start_frame": 502, "end_frame": 616, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}, {"start_frame": 616, "end_frame": 681, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the blue bottled laundry detergent from the first row of the shelf, rotate your waist, and place the bottle into the shopping cart."]}
{"task_id": "take_laundry_detergent_to_cart", "episode_index": 138, "video_path": "take_laundry_detergent_to_cart/videos/chunk-000/{video_key}/episode_000138.mp4", "tasks": ["Take laundry detergent to cart."], "length": 647, "action_config": [{"start_frame": 0, "end_frame": 197, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 197, "end_frame": 321, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 321, "end_frame": 423, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 423, "end_frame": 498, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up a blue bottled laundry detergent from the shelf and rotated its waist."}, {"start_frame": 498, "end_frame": 574, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}, {"start_frame": 574, "end_frame": 647, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the blue bottled laundry detergent from the first row of the shelf, rotate your waist, and place the bottle into the shopping cart."]}
{"task_id": "take_laundry_detergent_to_cart", "episode_index": 139, "video_path": "take_laundry_detergent_to_cart/videos/chunk-000/{video_key}/episode_000139.mp4", "tasks": ["Take laundry detergent to cart."], "length": 640, "action_config": [{"start_frame": 0, "end_frame": 169, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 169, "end_frame": 266, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 266, "end_frame": 357, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 357, "end_frame": 423, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up a blue bottled laundry detergent from the shelf and rotated its waist."}, {"start_frame": 423, "end_frame": 534, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}, {"start_frame": 534, "end_frame": 640, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the blue bottled laundry detergent from the first row of the shelf, rotate your waist, and place the bottle into the shopping cart."]}
{"task_id": "take_laundry_detergent_to_cart", "episode_index": 140, "video_path": "take_laundry_detergent_to_cart/videos/chunk-000/{video_key}/episode_000140.mp4", "tasks": ["Take laundry detergent to cart."], "length": 701, "action_config": [{"start_frame": 0, "end_frame": 162, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 162, "end_frame": 375, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 375, "end_frame": 471, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 471, "end_frame": 547, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up a blue bottled laundry detergent from the shelf and rotated its waist."}, {"start_frame": 547, "end_frame": 615, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}, {"start_frame": 615, "end_frame": 701, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the blue bottled laundry detergent from the first row of the shelf, rotate your waist, and place the bottle into the shopping cart."]}
{"task_id": "take_laundry_detergent_to_cart", "episode_index": 141, "video_path": "take_laundry_detergent_to_cart/videos/chunk-000/{video_key}/episode_000141.mp4", "tasks": ["Take laundry detergent to cart."], "length": 638, "action_config": [{"start_frame": 0, "end_frame": 174, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 174, "end_frame": 271, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 271, "end_frame": 366, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 366, "end_frame": 448, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up a blue bottled laundry detergent from the shelf and rotated its waist."}, {"start_frame": 448, "end_frame": 546, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}, {"start_frame": 546, "end_frame": 638, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the blue bottled laundry detergent from the first row of the shelf, rotate your waist, and place the bottle into the shopping cart."]}
{"task_id": "take_laundry_detergent_to_cart", "episode_index": 142, "video_path": "take_laundry_detergent_to_cart/videos/chunk-000/{video_key}/episode_000142.mp4", "tasks": ["Take laundry detergent to cart."], "length": 607, "action_config": [{"start_frame": 0, "end_frame": 155, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 155, "end_frame": 318, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 318, "end_frame": 410, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 410, "end_frame": 492, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up a blue bottled laundry detergent from the shelf and rotated its waist."}, {"start_frame": 492, "end_frame": 539, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}, {"start_frame": 539, "end_frame": 607, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the blue bottled laundry detergent from the first row of the shelf, rotate your waist, and place the bottle into the shopping cart."]}
{"task_id": "take_laundry_detergent_to_cart", "episode_index": 143, "video_path": "take_laundry_detergent_to_cart/videos/chunk-000/{video_key}/episode_000143.mp4", "tasks": ["Take laundry detergent to cart."], "length": 644, "action_config": [{"start_frame": 0, "end_frame": 162, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 162, "end_frame": 354, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 354, "end_frame": 447, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 447, "end_frame": 512, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up a blue bottled laundry detergent from the shelf and rotated its waist."}, {"start_frame": 512, "end_frame": 579, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}, {"start_frame": 579, "end_frame": 644, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the blue bottled laundry detergent from the first row of the shelf, rotate your waist, and place the bottle into the shopping cart."]}
{"task_id": "take_laundry_detergent_to_cart", "episode_index": 144, "video_path": "take_laundry_detergent_to_cart/videos/chunk-000/{video_key}/episode_000144.mp4", "tasks": ["Take laundry detergent to cart."], "length": 672, "action_config": [{"start_frame": 0, "end_frame": 192, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 192, "end_frame": 336, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 336, "end_frame": 441, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 441, "end_frame": 526, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up a blue bottled laundry detergent from the shelf and rotated its waist."}, {"start_frame": 526, "end_frame": 621, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}, {"start_frame": 621, "end_frame": 672, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the blue bottled laundry detergent from the first row of the shelf, rotate your waist, and place the bottle into the shopping cart."]}
{"task_id": "take_laundry_detergent_to_cart", "episode_index": 145, "video_path": "take_laundry_detergent_to_cart/videos/chunk-000/{video_key}/episode_000145.mp4", "tasks": ["Take laundry detergent to cart."], "length": 821, "action_config": [{"start_frame": 0, "end_frame": 225, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 225, "end_frame": 438, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 438, "end_frame": 546, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 546, "end_frame": 606, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up a blue bottled laundry detergent from the shelf and rotated its waist."}, {"start_frame": 606, "end_frame": 731, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}, {"start_frame": 731, "end_frame": 821, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the blue bottled laundry detergent from the first row of the shelf, rotate your waist, and place the bottle into the shopping cart."]}
{"task_id": "take_laundry_detergent_to_cart", "episode_index": 146, "video_path": "take_laundry_detergent_to_cart/videos/chunk-000/{video_key}/episode_000146.mp4", "tasks": ["Take laundry detergent to cart."], "length": 554, "action_config": [{"start_frame": 0, "end_frame": 168, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 168, "end_frame": 294, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 294, "end_frame": 384, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 384, "end_frame": 447, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up a blue bottled laundry detergent from the shelf and rotated its waist."}, {"start_frame": 447, "end_frame": 523, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}, {"start_frame": 523, "end_frame": 554, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the blue bottled laundry detergent from the first row of the shelf, rotate your waist, and place the bottle into the shopping cart."]}
{"task_id": "take_laundry_detergent_to_cart", "episode_index": 147, "video_path": "take_laundry_detergent_to_cart/videos/chunk-000/{video_key}/episode_000147.mp4", "tasks": ["Take laundry detergent to cart."], "length": 741, "action_config": [{"start_frame": 0, "end_frame": 252, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 252, "end_frame": 402, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 402, "end_frame": 507, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 507, "end_frame": 591, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up a blue bottled laundry detergent from the shelf and rotated its waist."}, {"start_frame": 591, "end_frame": 703, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}, {"start_frame": 703, "end_frame": 741, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the blue bottled laundry detergent from the first row of the shelf, rotate your waist, and place the bottle into the shopping cart."]}
{"task_id": "take_laundry_detergent_to_cart", "episode_index": 148, "video_path": "take_laundry_detergent_to_cart/videos/chunk-000/{video_key}/episode_000148.mp4", "tasks": ["Take laundry detergent to cart."], "length": 726, "action_config": [{"start_frame": 0, "end_frame": 215, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 215, "end_frame": 357, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 357, "end_frame": 498, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 498, "end_frame": 579, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up a blue bottled laundry detergent from the shelf and rotated its waist."}, {"start_frame": 579, "end_frame": 626, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}, {"start_frame": 626, "end_frame": 726, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the blue bottled laundry detergent from the first row of the shelf, rotate your waist, and place the bottle into the shopping cart."]}
{"task_id": "take_laundry_detergent_to_cart", "episode_index": 149, "video_path": "take_laundry_detergent_to_cart/videos/chunk-000/{video_key}/episode_000149.mp4", "tasks": ["Take laundry detergent to cart."], "length": 851, "action_config": [{"start_frame": 0, "end_frame": 355, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 355, "end_frame": 506, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 506, "end_frame": 616, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 616, "end_frame": 705, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up a blue bottled laundry detergent from the shelf and rotated its waist."}, {"start_frame": 705, "end_frame": 798, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}, {"start_frame": 798, "end_frame": 851, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the blue bottled laundry detergent from the first row of the shelf, rotate your waist, and place the bottle into the shopping cart."]}
{"task_id": "take_laundry_detergent_to_cart", "episode_index": 150, "video_path": "take_laundry_detergent_to_cart/videos/chunk-000/{video_key}/episode_000150.mp4", "tasks": ["Take laundry detergent to cart."], "length": 898, "action_config": [{"start_frame": 0, "end_frame": 317, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 317, "end_frame": 534, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 534, "end_frame": 642, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 642, "end_frame": 711, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up a blue bottled laundry detergent from the shelf and rotated its waist."}, {"start_frame": 711, "end_frame": 792, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}, {"start_frame": 792, "end_frame": 898, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the blue bottled laundry detergent from the first row of the shelf, rotate your waist, and place the bottle into the shopping cart."]}
{"task_id": "take_laundry_detergent_to_cart", "episode_index": 151, "video_path": "take_laundry_detergent_to_cart/videos/chunk-000/{video_key}/episode_000151.mp4", "tasks": ["Take laundry detergent to cart."], "length": 677, "action_config": [{"start_frame": 0, "end_frame": 192, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 192, "end_frame": 318, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 318, "end_frame": 428, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 428, "end_frame": 504, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up a blue bottled laundry detergent from the shelf and rotated its waist."}, {"start_frame": 504, "end_frame": 588, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}, {"start_frame": 588, "end_frame": 677, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the blue bottled laundry detergent from the first row of the shelf, rotate your waist, and place the bottle into the shopping cart."]}
{"task_id": "take_laundry_detergent_to_cart", "episode_index": 152, "video_path": "take_laundry_detergent_to_cart/videos/chunk-000/{video_key}/episode_000152.mp4", "tasks": ["Take laundry detergent to cart."], "length": 687, "action_config": [{"start_frame": 0, "end_frame": 206, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 206, "end_frame": 345, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 345, "end_frame": 456, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 456, "end_frame": 537, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up a blue bottled laundry detergent from the shelf and rotated its waist."}, {"start_frame": 537, "end_frame": 600, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}, {"start_frame": 600, "end_frame": 687, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the blue bottled laundry detergent from the first row of the shelf, rotate your waist, and place the bottle into the shopping cart."]}
{"task_id": "take_laundry_detergent_to_cart", "episode_index": 153, "video_path": "take_laundry_detergent_to_cart/videos/chunk-000/{video_key}/episode_000153.mp4", "tasks": ["Take laundry detergent to cart."], "length": 810, "action_config": [{"start_frame": 0, "end_frame": 270, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 270, "end_frame": 464, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 464, "end_frame": 551, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 551, "end_frame": 636, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up a blue bottled laundry detergent from the shelf and rotated its waist."}, {"start_frame": 636, "end_frame": 702, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}, {"start_frame": 702, "end_frame": 810, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the blue bottled laundry detergent from the first row of the shelf, rotate your waist, and place the bottle into the shopping cart."]}
{"task_id": "take_laundry_detergent_to_cart", "episode_index": 154, "video_path": "take_laundry_detergent_to_cart/videos/chunk-000/{video_key}/episode_000154.mp4", "tasks": ["Take laundry detergent to cart."], "length": 647, "action_config": [{"start_frame": 0, "end_frame": 170, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 170, "end_frame": 317, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 317, "end_frame": 419, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 419, "end_frame": 476, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up a blue bottled laundry detergent from the shelf and rotated its waist."}, {"start_frame": 476, "end_frame": 539, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}, {"start_frame": 539, "end_frame": 647, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the blue bottled laundry detergent from the first row of the shelf, rotate your waist, and place the bottle into the shopping cart."]}
{"task_id": "take_laundry_detergent_to_cart", "episode_index": 155, "video_path": "take_laundry_detergent_to_cart/videos/chunk-000/{video_key}/episode_000155.mp4", "tasks": ["Take laundry detergent to cart."], "length": 790, "action_config": [{"start_frame": 0, "end_frame": 231, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 231, "end_frame": 374, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 374, "end_frame": 483, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 483, "end_frame": 555, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up a blue bottled laundry detergent from the shelf and rotated its waist."}, {"start_frame": 555, "end_frame": 633, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}, {"start_frame": 633, "end_frame": 790, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the blue bottled laundry detergent from the first row of the shelf, rotate your waist, and place the bottle into the shopping cart."]}
{"task_id": "take_laundry_detergent_to_cart", "episode_index": 156, "video_path": "take_laundry_detergent_to_cart/videos/chunk-000/{video_key}/episode_000156.mp4", "tasks": ["Take laundry detergent to cart."], "length": 517, "action_config": [{"start_frame": 0, "end_frame": 135, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 135, "end_frame": 255, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 255, "end_frame": 357, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 357, "end_frame": 414, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up a blue bottled laundry detergent from the shelf and rotated its waist."}, {"start_frame": 414, "end_frame": 456, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}, {"start_frame": 456, "end_frame": 517, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the blue bottled laundry detergent from the first row of the shelf, rotate your waist, and place the bottle into the shopping cart."]}
{"task_id": "take_laundry_detergent_to_cart", "episode_index": 157, "video_path": "take_laundry_detergent_to_cart/videos/chunk-000/{video_key}/episode_000157.mp4", "tasks": ["Take laundry detergent to cart."], "length": 687, "action_config": [{"start_frame": 0, "end_frame": 204, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 204, "end_frame": 345, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 345, "end_frame": 450, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 450, "end_frame": 531, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up a blue bottled laundry detergent from the shelf and rotated its waist."}, {"start_frame": 531, "end_frame": 620, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}, {"start_frame": 620, "end_frame": 687, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the blue bottled laundry detergent from the first row of the shelf, rotate your waist, and place the bottle into the shopping cart."]}
{"task_id": "take_laundry_detergent_to_cart", "episode_index": 158, "video_path": "take_laundry_detergent_to_cart/videos/chunk-000/{video_key}/episode_000158.mp4", "tasks": ["Take laundry detergent to cart."], "length": 874, "action_config": [{"start_frame": 0, "end_frame": 303, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 303, "end_frame": 512, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 512, "end_frame": 599, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 599, "end_frame": 711, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up a blue bottled laundry detergent from the shelf and rotated its waist."}, {"start_frame": 711, "end_frame": 753, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}, {"start_frame": 753, "end_frame": 874, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the blue bottled laundry detergent from the first row of the shelf, rotate your waist, and place the bottle into the shopping cart."]}
{"task_id": "take_laundry_detergent_to_cart", "episode_index": 159, "video_path": "take_laundry_detergent_to_cart/videos/chunk-000/{video_key}/episode_000159.mp4", "tasks": ["Take laundry detergent to cart."], "length": 637, "action_config": [{"start_frame": 0, "end_frame": 216, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 216, "end_frame": 309, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 309, "end_frame": 408, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 408, "end_frame": 492, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up a blue bottled laundry detergent from the shelf and rotated its waist."}, {"start_frame": 492, "end_frame": 558, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}, {"start_frame": 558, "end_frame": 637, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the blue bottled laundry detergent from the first row of the shelf, rotate your waist, and place the bottle into the shopping cart."]}
{"task_id": "take_laundry_detergent_to_cart", "episode_index": 160, "video_path": "take_laundry_detergent_to_cart/videos/chunk-000/{video_key}/episode_000160.mp4", "tasks": ["Take laundry detergent to cart."], "length": 773, "action_config": [{"start_frame": 0, "end_frame": 216, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 216, "end_frame": 368, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 368, "end_frame": 495, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 495, "end_frame": 578, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up a blue bottled laundry detergent from the shelf and rotated its waist."}, {"start_frame": 578, "end_frame": 666, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}, {"start_frame": 666, "end_frame": 773, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the blue bottled laundry detergent from the first row of the shelf, rotate your waist, and place the bottle into the shopping cart."]}
{"task_id": "take_laundry_detergent_to_cart", "episode_index": 161, "video_path": "take_laundry_detergent_to_cart/videos/chunk-000/{video_key}/episode_000161.mp4", "tasks": ["Take laundry detergent to cart."], "length": 911, "action_config": [{"start_frame": 0, "end_frame": 294, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 294, "end_frame": 557, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 557, "end_frame": 660, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 660, "end_frame": 746, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up a blue bottled laundry detergent from the shelf and rotated its waist."}, {"start_frame": 746, "end_frame": 818, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}, {"start_frame": 818, "end_frame": 911, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the blue bottled laundry detergent from the first row of the shelf, rotate your waist, and place the bottle into the shopping cart."]}
{"task_id": "take_laundry_detergent_to_cart", "episode_index": 162, "video_path": "take_laundry_detergent_to_cart/videos/chunk-000/{video_key}/episode_000162.mp4", "tasks": ["Take laundry detergent to cart."], "length": 747, "action_config": [{"start_frame": 0, "end_frame": 231, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 231, "end_frame": 402, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 402, "end_frame": 507, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 507, "end_frame": 582, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up a blue bottled laundry detergent from the shelf and rotated its waist."}, {"start_frame": 582, "end_frame": 675, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}, {"start_frame": 675, "end_frame": 747, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the blue bottled laundry detergent from the first row of the shelf, rotate your waist, and place the bottle into the shopping cart."]}
{"task_id": "take_laundry_detergent_to_cart", "episode_index": 163, "video_path": "take_laundry_detergent_to_cart/videos/chunk-000/{video_key}/episode_000163.mp4", "tasks": ["Take laundry detergent to cart."], "length": 678, "action_config": [{"start_frame": 0, "end_frame": 195, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 195, "end_frame": 336, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 336, "end_frame": 465, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 465, "end_frame": 521, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up a blue bottled laundry detergent from the shelf and rotated its waist."}, {"start_frame": 521, "end_frame": 584, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}, {"start_frame": 584, "end_frame": 678, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the blue bottled laundry detergent from the first row of the shelf, rotate your waist, and place the bottle into the shopping cart."]}
{"task_id": "take_laundry_detergent_to_cart", "episode_index": 164, "video_path": "take_laundry_detergent_to_cart/videos/chunk-000/{video_key}/episode_000164.mp4", "tasks": ["Take laundry detergent to cart."], "length": 952, "action_config": [{"start_frame": 0, "end_frame": 252, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 252, "end_frame": 468, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 468, "end_frame": 606, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 606, "end_frame": 699, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up a blue bottled laundry detergent from the shelf and rotated its waist."}, {"start_frame": 699, "end_frame": 836, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}, {"start_frame": 836, "end_frame": 952, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the blue bottled laundry detergent from the first row of the shelf, rotate your waist, and place the bottle into the shopping cart."]}
{"task_id": "take_laundry_detergent_to_cart", "episode_index": 165, "video_path": "take_laundry_detergent_to_cart/videos/chunk-000/{video_key}/episode_000165.mp4", "tasks": ["Take laundry detergent to cart."], "length": 610, "action_config": [{"start_frame": 0, "end_frame": 171, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 171, "end_frame": 323, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 323, "end_frame": 423, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 423, "end_frame": 486, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up a blue bottled laundry detergent from the shelf and rotated its waist."}, {"start_frame": 486, "end_frame": 533, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}, {"start_frame": 533, "end_frame": 610, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the blue bottled laundry detergent from the first row of the shelf, rotate your waist, and place the bottle into the shopping cart."]}
{"task_id": "take_laundry_detergent_to_cart", "episode_index": 166, "video_path": "take_laundry_detergent_to_cart/videos/chunk-000/{video_key}/episode_000166.mp4", "tasks": ["Take laundry detergent to cart."], "length": 839, "action_config": [{"start_frame": 0, "end_frame": 258, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 258, "end_frame": 462, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 462, "end_frame": 576, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 576, "end_frame": 660, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up a blue bottled laundry detergent from the shelf and rotated its waist."}, {"start_frame": 660, "end_frame": 775, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}, {"start_frame": 775, "end_frame": 839, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the blue bottled laundry detergent from the first row of the shelf, rotate your waist, and place the bottle into the shopping cart."]}
{"task_id": "take_laundry_detergent_to_cart", "episode_index": 167, "video_path": "take_laundry_detergent_to_cart/videos/chunk-000/{video_key}/episode_000167.mp4", "tasks": ["Take laundry detergent to cart."], "length": 855, "action_config": [{"start_frame": 0, "end_frame": 268, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 268, "end_frame": 510, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 510, "end_frame": 604, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 604, "end_frame": 672, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up a blue bottled laundry detergent from the shelf and rotated its waist."}, {"start_frame": 672, "end_frame": 792, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}, {"start_frame": 792, "end_frame": 855, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the blue bottled laundry detergent from the first row of the shelf, rotate your waist, and place the bottle into the shopping cart."]}
{"task_id": "take_laundry_detergent_to_cart", "episode_index": 168, "video_path": "take_laundry_detergent_to_cart/videos/chunk-000/{video_key}/episode_000168.mp4", "tasks": ["Take laundry detergent to cart."], "length": 703, "action_config": [{"start_frame": 0, "end_frame": 195, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 195, "end_frame": 357, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 357, "end_frame": 457, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 457, "end_frame": 551, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up a blue bottled laundry detergent from the shelf and rotated its waist."}, {"start_frame": 551, "end_frame": 611, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}, {"start_frame": 611, "end_frame": 703, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the blue bottled laundry detergent from the first row of the shelf, rotate your waist, and place the bottle into the shopping cart."]}
{"task_id": "take_laundry_detergent_to_cart", "episode_index": 169, "video_path": "take_laundry_detergent_to_cart/videos/chunk-000/{video_key}/episode_000169.mp4", "tasks": ["Take laundry detergent to cart."], "length": 824, "action_config": [{"start_frame": 0, "end_frame": 201, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 201, "end_frame": 429, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 429, "end_frame": 564, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 564, "end_frame": 640, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up a blue bottled laundry detergent from the shelf and rotated its waist."}, {"start_frame": 640, "end_frame": 735, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}, {"start_frame": 735, "end_frame": 824, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the blue bottled laundry detergent from the first row of the shelf, rotate your waist, and place the bottle into the shopping cart."]}
{"task_id": "take_laundry_detergent_to_cart", "episode_index": 170, "video_path": "take_laundry_detergent_to_cart/videos/chunk-000/{video_key}/episode_000170.mp4", "tasks": ["Take laundry detergent to cart."], "length": 654, "action_config": [{"start_frame": 8, "end_frame": 200, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 200, "end_frame": 315, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 315, "end_frame": 417, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 417, "end_frame": 497, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up a blue bottled laundry detergent from the shelf and rotated its waist."}, {"start_frame": 497, "end_frame": 605, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}, {"start_frame": 605, "end_frame": 642, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the blue bottled laundry detergent from the first row of the shelf, rotate your waist, and place the bottle into the shopping cart."]}
{"task_id": "take_laundry_detergent_to_cart", "episode_index": 171, "video_path": "take_laundry_detergent_to_cart/videos/chunk-000/{video_key}/episode_000171.mp4", "tasks": ["Take laundry detergent to cart."], "length": 741, "action_config": [{"start_frame": 0, "end_frame": 207, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 207, "end_frame": 384, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 384, "end_frame": 489, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 489, "end_frame": 579, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up a blue bottled laundry detergent from the shelf and rotated its waist."}, {"start_frame": 579, "end_frame": 696, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}, {"start_frame": 696, "end_frame": 729, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the blue bottled laundry detergent from the first row of the shelf, rotate your waist, and place the bottle into the shopping cart."]}
{"task_id": "take_laundry_detergent_to_cart", "episode_index": 172, "video_path": "take_laundry_detergent_to_cart/videos/chunk-000/{video_key}/episode_000172.mp4", "tasks": ["Take laundry detergent to cart."], "length": 806, "action_config": [{"start_frame": 0, "end_frame": 240, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 240, "end_frame": 456, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 456, "end_frame": 543, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 543, "end_frame": 613, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up a blue bottled laundry detergent from the shelf and rotated its waist."}, {"start_frame": 613, "end_frame": 753, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}, {"start_frame": 753, "end_frame": 786, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the blue bottled laundry detergent from the first row of the shelf, rotate your waist, and place the bottle into the shopping cart."]}
{"task_id": "take_laundry_detergent_to_cart", "episode_index": 173, "video_path": "take_laundry_detergent_to_cart/videos/chunk-000/{video_key}/episode_000173.mp4", "tasks": ["Take laundry detergent to cart."], "length": 750, "action_config": [{"start_frame": 27, "end_frame": 269, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 269, "end_frame": 403, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 403, "end_frame": 513, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 513, "end_frame": 588, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up a blue bottled laundry detergent from the shelf and rotated its waist."}, {"start_frame": 588, "end_frame": 715, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}, {"start_frame": 715, "end_frame": 750, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the blue bottled laundry detergent from the first row of the shelf, rotate your waist, and place the bottle into the shopping cart."]}
{"task_id": "take_laundry_detergent_to_cart", "episode_index": 174, "video_path": "take_laundry_detergent_to_cart/videos/chunk-000/{video_key}/episode_000174.mp4", "tasks": ["Take laundry detergent to cart."], "length": 628, "action_config": [{"start_frame": 0, "end_frame": 150, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 150, "end_frame": 282, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 282, "end_frame": 410, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 410, "end_frame": 478, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up a blue bottled laundry detergent from the shelf and rotated its waist."}, {"start_frame": 478, "end_frame": 589, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}, {"start_frame": 589, "end_frame": 628, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the blue bottled laundry detergent from the first row of the shelf, rotate your waist, and place the bottle into the shopping cart."]}
{"task_id": "take_laundry_detergent_to_cart", "episode_index": 175, "video_path": "take_laundry_detergent_to_cart/videos/chunk-000/{video_key}/episode_000175.mp4", "tasks": ["Take laundry detergent to cart."], "length": 653, "action_config": [{"start_frame": 17, "end_frame": 185, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 185, "end_frame": 306, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 306, "end_frame": 433, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 433, "end_frame": 508, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up a blue bottled laundry detergent from the shelf and rotated its waist."}, {"start_frame": 508, "end_frame": 615, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}, {"start_frame": 615, "end_frame": 653, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the blue bottled laundry detergent from the first row of the shelf, rotate your waist, and place the bottle into the shopping cart."]}
{"task_id": "take_laundry_detergent_to_cart", "episode_index": 176, "video_path": "take_laundry_detergent_to_cart/videos/chunk-000/{video_key}/episode_000176.mp4", "tasks": ["Take laundry detergent to cart."], "length": 624, "action_config": [{"start_frame": 15, "end_frame": 164, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 164, "end_frame": 286, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 286, "end_frame": 404, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 404, "end_frame": 472, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up a blue bottled laundry detergent from the shelf and rotated its waist."}, {"start_frame": 472, "end_frame": 592, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}, {"start_frame": 592, "end_frame": 624, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the blue bottled laundry detergent from the first row of the shelf, rotate your waist, and place the bottle into the shopping cart."]}
{"task_id": "take_laundry_detergent_to_cart", "episode_index": 177, "video_path": "take_laundry_detergent_to_cart/videos/chunk-000/{video_key}/episode_000177.mp4", "tasks": ["Take laundry detergent to cart."], "length": 643, "action_config": [{"start_frame": 0, "end_frame": 168, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 168, "end_frame": 290, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 290, "end_frame": 393, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 393, "end_frame": 483, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up a blue bottled laundry detergent from the shelf and rotated its waist."}, {"start_frame": 483, "end_frame": 598, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}, {"start_frame": 598, "end_frame": 636, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the blue bottled laundry detergent from the first row of the shelf, rotate your waist, and place the bottle into the shopping cart."]}
{"task_id": "take_laundry_detergent_to_cart", "episode_index": 178, "video_path": "take_laundry_detergent_to_cart/videos/chunk-000/{video_key}/episode_000178.mp4", "tasks": ["Take laundry detergent to cart."], "length": 1024, "action_config": [{"start_frame": 0, "end_frame": 295, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 295, "end_frame": 620, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 620, "end_frame": 743, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 743, "end_frame": 840, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up a blue bottled laundry detergent from the shelf and rotated its waist."}, {"start_frame": 840, "end_frame": 982, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}, {"start_frame": 982, "end_frame": 1024, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the blue bottled laundry detergent from the first row of the shelf, rotate your waist, and place the bottle into the shopping cart."]}
{"task_id": "take_laundry_detergent_to_cart", "episode_index": 179, "video_path": "take_laundry_detergent_to_cart/videos/chunk-000/{video_key}/episode_000179.mp4", "tasks": ["Take laundry detergent to cart."], "length": 669, "action_config": [{"start_frame": 0, "end_frame": 198, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 198, "end_frame": 333, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 333, "end_frame": 453, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 453, "end_frame": 533, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up a blue bottled laundry detergent from the shelf and rotated its waist."}, {"start_frame": 533, "end_frame": 588, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}, {"start_frame": 588, "end_frame": 669, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the blue bottled laundry detergent from the first row of the shelf, rotate your waist, and place the bottle into the shopping cart."]}
{"task_id": "take_laundry_detergent_to_cart", "episode_index": 180, "video_path": "take_laundry_detergent_to_cart/videos/chunk-000/{video_key}/episode_000180.mp4", "tasks": ["Take laundry detergent to cart."], "length": 586, "action_config": [{"start_frame": 0, "end_frame": 174, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 174, "end_frame": 305, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 305, "end_frame": 402, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 402, "end_frame": 471, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up a blue bottled laundry detergent from the shelf and rotated its waist."}, {"start_frame": 471, "end_frame": 516, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}, {"start_frame": 516, "end_frame": 586, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the blue bottled laundry detergent from the first row of the shelf, rotate your waist, and place the bottle into the shopping cart."]}
{"task_id": "take_laundry_detergent_to_cart", "episode_index": 181, "video_path": "take_laundry_detergent_to_cart/videos/chunk-000/{video_key}/episode_000181.mp4", "tasks": ["Take laundry detergent to cart."], "length": 870, "action_config": [{"start_frame": 15, "end_frame": 283, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 283, "end_frame": 426, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 426, "end_frame": 546, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 546, "end_frame": 651, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up a blue bottled laundry detergent from the shelf and rotated its waist."}, {"start_frame": 651, "end_frame": 818, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}, {"start_frame": 818, "end_frame": 859, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the blue bottled laundry detergent from the first row of the shelf, rotate your waist, and place the bottle into the shopping cart."]}
{"task_id": "take_laundry_detergent_to_cart", "episode_index": 182, "video_path": "take_laundry_detergent_to_cart/videos/chunk-000/{video_key}/episode_000182.mp4", "tasks": ["Take laundry detergent to cart."], "length": 703, "action_config": [{"start_frame": 0, "end_frame": 208, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 208, "end_frame": 343, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 343, "end_frame": 435, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 435, "end_frame": 520, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up a blue bottled laundry detergent from the shelf and rotated its waist."}, {"start_frame": 520, "end_frame": 630, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}, {"start_frame": 630, "end_frame": 703, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the blue bottled laundry detergent from the first row of the shelf, rotate your waist, and place the bottle into the shopping cart."]}
{"task_id": "take_laundry_detergent_to_cart", "episode_index": 183, "video_path": "take_laundry_detergent_to_cart/videos/chunk-000/{video_key}/episode_000183.mp4", "tasks": ["Take laundry detergent to cart."], "length": 877, "action_config": [{"start_frame": 0, "end_frame": 277, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 277, "end_frame": 487, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 487, "end_frame": 592, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 592, "end_frame": 690, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up a blue bottled laundry detergent from the shelf and rotated its waist."}, {"start_frame": 690, "end_frame": 817, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}, {"start_frame": 817, "end_frame": 877, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the blue bottled laundry detergent from the first row of the shelf, rotate your waist, and place the bottle into the shopping cart."]}
{"task_id": "take_laundry_detergent_to_cart", "episode_index": 184, "video_path": "take_laundry_detergent_to_cart/videos/chunk-000/{video_key}/episode_000184.mp4", "tasks": ["Take laundry detergent to cart."], "length": 549, "action_config": [{"start_frame": 0, "end_frame": 168, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 168, "end_frame": 261, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 261, "end_frame": 353, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 353, "end_frame": 443, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up a blue bottled laundry detergent from the shelf and rotated its waist."}, {"start_frame": 443, "end_frame": 489, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}, {"start_frame": 489, "end_frame": 549, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the blue bottled laundry detergent from the first row of the shelf, rotate your waist, and place the bottle into the shopping cart."]}
{"task_id": "take_laundry_detergent_to_cart", "episode_index": 185, "video_path": "take_laundry_detergent_to_cart/videos/chunk-000/{video_key}/episode_000185.mp4", "tasks": ["Take laundry detergent to cart."], "length": 652, "action_config": [{"start_frame": 0, "end_frame": 206, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 206, "end_frame": 320, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 320, "end_frame": 435, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 435, "end_frame": 485, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up a blue bottled laundry detergent from the shelf and rotated its waist."}, {"start_frame": 485, "end_frame": 540, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}, {"start_frame": 540, "end_frame": 652, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the blue bottled laundry detergent from the first row of the shelf, rotate your waist, and place the bottle into the shopping cart."]}
{"task_id": "take_laundry_detergent_to_cart", "episode_index": 186, "video_path": "take_laundry_detergent_to_cart/videos/chunk-000/{video_key}/episode_000186.mp4", "tasks": ["Take laundry detergent to cart."], "length": 859, "action_config": [{"start_frame": 0, "end_frame": 303, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 303, "end_frame": 503, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 503, "end_frame": 606, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 606, "end_frame": 671, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up a blue bottled laundry detergent from the shelf and rotated its waist."}, {"start_frame": 671, "end_frame": 764, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}, {"start_frame": 764, "end_frame": 859, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the blue bottled laundry detergent from the first row of the shelf, rotate your waist, and place the bottle into the shopping cart."]}
{"task_id": "take_laundry_detergent_to_cart", "episode_index": 187, "video_path": "take_laundry_detergent_to_cart/videos/chunk-000/{video_key}/episode_000187.mp4", "tasks": ["Take laundry detergent to cart."], "length": 631, "action_config": [{"start_frame": 0, "end_frame": 202, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 202, "end_frame": 340, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 340, "end_frame": 441, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 441, "end_frame": 522, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up a blue bottled laundry detergent from the shelf and rotated its waist."}, {"start_frame": 522, "end_frame": 586, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}, {"start_frame": 586, "end_frame": 631, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the blue bottled laundry detergent from the first row of the shelf, rotate your waist, and place the bottle into the shopping cart."]}
{"task_id": "take_laundry_detergent_to_cart", "episode_index": 188, "video_path": "take_laundry_detergent_to_cart/videos/chunk-000/{video_key}/episode_000188.mp4", "tasks": ["Take laundry detergent to cart."], "length": 822, "action_config": [{"start_frame": 0, "end_frame": 258, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 258, "end_frame": 432, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 432, "end_frame": 547, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 547, "end_frame": 622, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up a blue bottled laundry detergent from the shelf and rotated its waist."}, {"start_frame": 622, "end_frame": 730, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}, {"start_frame": 730, "end_frame": 822, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the blue bottled laundry detergent from the first row of the shelf, rotate your waist, and place the bottle into the shopping cart."]}
{"task_id": "take_laundry_detergent_to_cart", "episode_index": 189, "video_path": "take_laundry_detergent_to_cart/videos/chunk-000/{video_key}/episode_000189.mp4", "tasks": ["Take laundry detergent to cart."], "length": 677, "action_config": [{"start_frame": 0, "end_frame": 209, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 209, "end_frame": 350, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 350, "end_frame": 474, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 474, "end_frame": 537, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up a blue bottled laundry detergent from the shelf and rotated its waist."}, {"start_frame": 537, "end_frame": 590, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}, {"start_frame": 590, "end_frame": 677, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the blue bottled laundry detergent from the first row of the shelf, rotate your waist, and place the bottle into the shopping cart."]}
{"task_id": "take_laundry_detergent_to_cart", "episode_index": 190, "video_path": "take_laundry_detergent_to_cart/videos/chunk-000/{video_key}/episode_000190.mp4", "tasks": ["Take laundry detergent to cart."], "length": 727, "action_config": [{"start_frame": 0, "end_frame": 209, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 209, "end_frame": 360, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 360, "end_frame": 453, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 453, "end_frame": 564, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up a blue bottled laundry detergent from the shelf and rotated its waist."}, {"start_frame": 564, "end_frame": 666, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}, {"start_frame": 666, "end_frame": 727, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the blue bottled laundry detergent from the first row of the shelf, rotate your waist, and place the bottle into the shopping cart."]}
{"task_id": "take_laundry_detergent_to_cart", "episode_index": 191, "video_path": "take_laundry_detergent_to_cart/videos/chunk-000/{video_key}/episode_000191.mp4", "tasks": ["Take laundry detergent to cart."], "length": 689, "action_config": [{"start_frame": 0, "end_frame": 153, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 153, "end_frame": 301, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 301, "end_frame": 414, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 414, "end_frame": 495, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up a blue bottled laundry detergent from the shelf and rotated its waist."}, {"start_frame": 495, "end_frame": 607, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}, {"start_frame": 607, "end_frame": 689, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the blue bottled laundry detergent from the first row of the shelf, rotate your waist, and place the bottle into the shopping cart."]}
{"task_id": "take_laundry_detergent_to_cart", "episode_index": 192, "video_path": "take_laundry_detergent_to_cart/videos/chunk-000/{video_key}/episode_000192.mp4", "tasks": ["Take laundry detergent to cart."], "length": 826, "action_config": [{"start_frame": 15, "end_frame": 208, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 208, "end_frame": 384, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 384, "end_frame": 522, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 522, "end_frame": 622, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up a blue bottled laundry detergent from the shelf and rotated its waist."}, {"start_frame": 622, "end_frame": 769, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}, {"start_frame": 769, "end_frame": 826, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the blue bottled laundry detergent from the first row of the shelf, rotate your waist, and place the bottle into the shopping cart."]}
{"task_id": "take_laundry_detergent_to_cart", "episode_index": 193, "video_path": "take_laundry_detergent_to_cart/videos/chunk-000/{video_key}/episode_000193.mp4", "tasks": ["Take laundry detergent to cart."], "length": 742, "action_config": [{"start_frame": 0, "end_frame": 171, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 171, "end_frame": 383, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 383, "end_frame": 482, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 482, "end_frame": 549, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up a blue bottled laundry detergent from the shelf and rotated its waist."}, {"start_frame": 549, "end_frame": 630, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}, {"start_frame": 630, "end_frame": 742, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the blue bottled laundry detergent from the first row of the shelf, rotate your waist, and place the bottle into the shopping cart."]}
{"task_id": "take_laundry_detergent_to_cart", "episode_index": 194, "video_path": "take_laundry_detergent_to_cart/videos/chunk-000/{video_key}/episode_000194.mp4", "tasks": ["Take laundry detergent to cart."], "length": 668, "action_config": [{"start_frame": 0, "end_frame": 174, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 174, "end_frame": 319, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 319, "end_frame": 430, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 430, "end_frame": 513, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up a blue bottled laundry detergent from the shelf and rotated its waist."}, {"start_frame": 513, "end_frame": 621, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}, {"start_frame": 621, "end_frame": 668, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the blue bottled laundry detergent from the first row of the shelf, rotate your waist, and place the bottle into the shopping cart."]}
{"task_id": "take_laundry_detergent_to_cart", "episode_index": 195, "video_path": "take_laundry_detergent_to_cart/videos/chunk-000/{video_key}/episode_000195.mp4", "tasks": ["Take laundry detergent to cart."], "length": 722, "action_config": [{"start_frame": 0, "end_frame": 224, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 224, "end_frame": 363, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 363, "end_frame": 492, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 492, "end_frame": 555, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up a blue bottled laundry detergent from the shelf and rotated its waist."}, {"start_frame": 555, "end_frame": 633, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}, {"start_frame": 633, "end_frame": 722, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the blue bottled laundry detergent from the first row of the shelf, rotate your waist, and place the bottle into the shopping cart."]}
{"task_id": "take_laundry_detergent_to_cart", "episode_index": 196, "video_path": "take_laundry_detergent_to_cart/videos/chunk-000/{video_key}/episode_000196.mp4", "tasks": ["Take laundry detergent to cart."], "length": 793, "action_config": [{"start_frame": 0, "end_frame": 247, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 247, "end_frame": 387, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 387, "end_frame": 486, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 486, "end_frame": 564, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up a blue bottled laundry detergent from the shelf and rotated its waist."}, {"start_frame": 564, "end_frame": 642, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}, {"start_frame": 642, "end_frame": 793, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the blue bottled laundry detergent from the first row of the shelf, rotate your waist, and place the bottle into the shopping cart."]}
{"task_id": "take_laundry_detergent_to_cart", "episode_index": 197, "video_path": "take_laundry_detergent_to_cart/videos/chunk-000/{video_key}/episode_000197.mp4", "tasks": ["Take laundry detergent to cart."], "length": 873, "action_config": [{"start_frame": 0, "end_frame": 210, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 210, "end_frame": 543, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 543, "end_frame": 656, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 656, "end_frame": 702, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up a blue bottled laundry detergent from the shelf and rotated its waist."}, {"start_frame": 702, "end_frame": 777, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}, {"start_frame": 777, "end_frame": 873, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the blue bottled laundry detergent from the first row of the shelf, rotate your waist, and place the bottle into the shopping cart."]}
{"task_id": "take_laundry_detergent_to_cart", "episode_index": 198, "video_path": "take_laundry_detergent_to_cart/videos/chunk-000/{video_key}/episode_000198.mp4", "tasks": ["Take laundry detergent to cart."], "length": 710, "action_config": [{"start_frame": 0, "end_frame": 207, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 207, "end_frame": 399, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 399, "end_frame": 502, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 502, "end_frame": 573, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up a blue bottled laundry detergent from the shelf and rotated its waist."}, {"start_frame": 573, "end_frame": 654, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}, {"start_frame": 654, "end_frame": 710, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the blue bottled laundry detergent from the first row of the shelf, rotate your waist, and place the bottle into the shopping cart."]}
{"task_id": "take_laundry_detergent_to_cart", "episode_index": 199, "video_path": "take_laundry_detergent_to_cart/videos/chunk-000/{video_key}/episode_000199.mp4", "tasks": ["Take laundry detergent to cart."], "length": 699, "action_config": [{"start_frame": 0, "end_frame": 186, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 186, "end_frame": 327, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 327, "end_frame": 446, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 446, "end_frame": 548, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up a blue bottled laundry detergent from the shelf and rotated its waist."}, {"start_frame": 548, "end_frame": 635, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}, {"start_frame": 635, "end_frame": 699, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the blue bottled laundry detergent from the first row of the shelf, rotate your waist, and place the bottle into the shopping cart."]}
{"task_id": "take_laundry_detergent_to_cart", "episode_index": 200, "video_path": "take_laundry_detergent_to_cart/videos/chunk-000/{video_key}/episode_000200.mp4", "tasks": ["Take laundry detergent to cart."], "length": 623, "action_config": [{"start_frame": 0, "end_frame": 197, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 197, "end_frame": 345, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 345, "end_frame": 438, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 438, "end_frame": 499, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up a blue bottled laundry detergent from the shelf and rotated its waist."}, {"start_frame": 499, "end_frame": 583, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}, {"start_frame": 583, "end_frame": 623, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the blue bottled laundry detergent from the first row of the shelf, rotate your waist, and place the bottle into the shopping cart."]}
{"task_id": "take_laundry_detergent_to_cart", "episode_index": 201, "video_path": "take_laundry_detergent_to_cart/videos/chunk-000/{video_key}/episode_000201.mp4", "tasks": ["Take laundry detergent to cart."], "length": 664, "action_config": [{"start_frame": 0, "end_frame": 225, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 225, "end_frame": 360, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 360, "end_frame": 462, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 462, "end_frame": 522, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up a blue bottled laundry detergent from the shelf and rotated its waist."}, {"start_frame": 522, "end_frame": 581, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}, {"start_frame": 581, "end_frame": 664, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the blue bottled laundry detergent from the first row of the shelf, rotate your waist, and place the bottle into the shopping cart."]}
{"task_id": "take_laundry_detergent_to_cart", "episode_index": 202, "video_path": "take_laundry_detergent_to_cart/videos/chunk-000/{video_key}/episode_000202.mp4", "tasks": ["Take laundry detergent to cart."], "length": 670, "action_config": [{"start_frame": 0, "end_frame": 161, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 161, "end_frame": 387, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 387, "end_frame": 476, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 476, "end_frame": 534, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up a blue bottled laundry detergent from the shelf and rotated its waist."}, {"start_frame": 534, "end_frame": 591, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}, {"start_frame": 591, "end_frame": 670, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the blue bottled laundry detergent from the first row of the shelf, rotate your waist, and place the bottle into the shopping cart."]}
{"task_id": "take_laundry_detergent_to_cart", "episode_index": 203, "video_path": "take_laundry_detergent_to_cart/videos/chunk-000/{video_key}/episode_000203.mp4", "tasks": ["Take laundry detergent to cart."], "length": 694, "action_config": [{"start_frame": 0, "end_frame": 237, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 237, "end_frame": 387, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 387, "end_frame": 484, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 484, "end_frame": 534, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up a blue bottled laundry detergent from the shelf and rotated its waist."}, {"start_frame": 534, "end_frame": 648, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}, {"start_frame": 648, "end_frame": 694, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the blue bottled laundry detergent from the first row of the shelf, rotate your waist, and place the bottle into the shopping cart."]}
{"task_id": "take_laundry_detergent_to_cart", "episode_index": 204, "video_path": "take_laundry_detergent_to_cart/videos/chunk-000/{video_key}/episode_000204.mp4", "tasks": ["Take laundry detergent to cart."], "length": 645, "action_config": [{"start_frame": 0, "end_frame": 186, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 186, "end_frame": 327, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 327, "end_frame": 432, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 432, "end_frame": 492, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up a blue bottled laundry detergent from the shelf and rotated its waist."}, {"start_frame": 492, "end_frame": 558, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}, {"start_frame": 558, "end_frame": 645, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the blue bottled laundry detergent from the first row of the shelf, rotate your waist, and place the bottle into the shopping cart."]}
{"task_id": "take_laundry_detergent_to_cart", "episode_index": 205, "video_path": "take_laundry_detergent_to_cart/videos/chunk-000/{video_key}/episode_000205.mp4", "tasks": ["Take laundry detergent to cart."], "length": 746, "action_config": [{"start_frame": 0, "end_frame": 198, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 198, "end_frame": 354, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 354, "end_frame": 470, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 470, "end_frame": 579, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up a blue bottled laundry detergent from the shelf and rotated its waist."}, {"start_frame": 579, "end_frame": 690, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}, {"start_frame": 690, "end_frame": 746, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the blue bottled laundry detergent from the first row of the shelf, rotate your waist, and place the bottle into the shopping cart."]}
{"task_id": "take_laundry_detergent_to_cart", "episode_index": 206, "video_path": "take_laundry_detergent_to_cart/videos/chunk-000/{video_key}/episode_000206.mp4", "tasks": ["Take laundry detergent to cart."], "length": 927, "action_config": [{"start_frame": 0, "end_frame": 282, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 282, "end_frame": 552, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 552, "end_frame": 665, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 665, "end_frame": 758, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up a blue bottled laundry detergent from the shelf and rotated its waist."}, {"start_frame": 758, "end_frame": 807, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}, {"start_frame": 807, "end_frame": 927, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the blue bottled laundry detergent from the first row of the shelf, rotate your waist, and place the bottle into the shopping cart."]}
{"task_id": "take_laundry_detergent_to_cart", "episode_index": 207, "video_path": "take_laundry_detergent_to_cart/videos/chunk-000/{video_key}/episode_000207.mp4", "tasks": ["Take laundry detergent to cart."], "length": 824, "action_config": [{"start_frame": 0, "end_frame": 221, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 221, "end_frame": 483, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 483, "end_frame": 588, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 588, "end_frame": 642, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up a blue bottled laundry detergent from the shelf and rotated its waist."}, {"start_frame": 642, "end_frame": 729, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}, {"start_frame": 729, "end_frame": 824, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the blue bottled laundry detergent from the first row of the shelf, rotate your waist, and place the bottle into the shopping cart."]}
{"task_id": "take_laundry_detergent_to_cart", "episode_index": 208, "video_path": "take_laundry_detergent_to_cart/videos/chunk-000/{video_key}/episode_000208.mp4", "tasks": ["Take laundry detergent to cart."], "length": 758, "action_config": [{"start_frame": 15, "end_frame": 177, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 177, "end_frame": 313, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 313, "end_frame": 414, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 414, "end_frame": 558, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up a blue bottled laundry detergent from the shelf and rotated its waist."}, {"start_frame": 558, "end_frame": 722, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}, {"start_frame": 722, "end_frame": 758, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the blue bottled laundry detergent from the first row of the shelf, rotate your waist, and place the bottle into the shopping cart."]}
{"task_id": "take_laundry_detergent_to_cart", "episode_index": 209, "video_path": "take_laundry_detergent_to_cart/videos/chunk-000/{video_key}/episode_000209.mp4", "tasks": ["Take laundry detergent to cart."], "length": 676, "action_config": [{"start_frame": 0, "end_frame": 233, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 233, "end_frame": 396, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 396, "end_frame": 504, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 504, "end_frame": 554, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up a blue bottled laundry detergent from the shelf and rotated its waist."}, {"start_frame": 554, "end_frame": 641, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}, {"start_frame": 641, "end_frame": 676, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the blue bottled laundry detergent from the first row of the shelf, rotate your waist, and place the bottle into the shopping cart."]}
{"task_id": "take_laundry_detergent_to_cart", "episode_index": 210, "video_path": "take_laundry_detergent_to_cart/videos/chunk-000/{video_key}/episode_000210.mp4", "tasks": ["Take laundry detergent to cart."], "length": 842, "action_config": [{"start_frame": 0, "end_frame": 231, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 231, "end_frame": 400, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 400, "end_frame": 531, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 531, "end_frame": 615, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up a blue bottled laundry detergent from the shelf and rotated its waist."}, {"start_frame": 615, "end_frame": 720, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}, {"start_frame": 720, "end_frame": 842, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the blue bottled laundry detergent from the first row of the shelf, rotate your waist, and place the bottle into the shopping cart."]}
{"task_id": "take_laundry_detergent_to_cart", "episode_index": 211, "video_path": "take_laundry_detergent_to_cart/videos/chunk-000/{video_key}/episode_000211.mp4", "tasks": ["Take laundry detergent to cart."], "length": 804, "action_config": [{"start_frame": 0, "end_frame": 246, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 246, "end_frame": 427, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 427, "end_frame": 531, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 531, "end_frame": 609, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up a blue bottled laundry detergent from the shelf and rotated its waist."}, {"start_frame": 609, "end_frame": 720, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}, {"start_frame": 720, "end_frame": 804, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the blue bottled laundry detergent from the first row of the shelf, rotate your waist, and place the bottle into the shopping cart."]}
{"task_id": "take_laundry_detergent_to_cart", "episode_index": 212, "video_path": "take_laundry_detergent_to_cart/videos/chunk-000/{video_key}/episode_000212.mp4", "tasks": ["Take laundry detergent to cart."], "length": 1029, "action_config": [{"start_frame": 0, "end_frame": 352, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 352, "end_frame": 667, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 667, "end_frame": 781, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 781, "end_frame": 870, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up a blue bottled laundry detergent from the shelf and rotated its waist."}, {"start_frame": 870, "end_frame": 957, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}, {"start_frame": 957, "end_frame": 1029, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the blue bottled laundry detergent from the first row of the shelf, rotate your waist, and place the bottle into the shopping cart."]}
{"task_id": "take_laundry_detergent_to_cart", "episode_index": 213, "video_path": "take_laundry_detergent_to_cart/videos/chunk-000/{video_key}/episode_000213.mp4", "tasks": ["Take laundry detergent to cart."], "length": 624, "action_config": [{"start_frame": 0, "end_frame": 174, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 174, "end_frame": 285, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 285, "end_frame": 390, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 390, "end_frame": 450, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up a blue bottled laundry detergent from the shelf and rotated its waist."}, {"start_frame": 450, "end_frame": 558, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}, {"start_frame": 558, "end_frame": 608, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the blue bottled laundry detergent from the first row of the shelf, rotate your waist, and place the bottle into the shopping cart."]}
{"task_id": "take_laundry_detergent_to_cart", "episode_index": 214, "video_path": "take_laundry_detergent_to_cart/videos/chunk-000/{video_key}/episode_000214.mp4", "tasks": ["Take laundry detergent to cart."], "length": 920, "action_config": [{"start_frame": 0, "end_frame": 324, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 324, "end_frame": 507, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 507, "end_frame": 639, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 639, "end_frame": 744, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up a blue bottled laundry detergent from the shelf and rotated its waist."}, {"start_frame": 744, "end_frame": 834, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}, {"start_frame": 834, "end_frame": 920, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the blue bottled laundry detergent from the first row of the shelf, rotate your waist, and place the bottle into the shopping cart."]}
{"task_id": "take_laundry_detergent_to_cart", "episode_index": 215, "video_path": "take_laundry_detergent_to_cart/videos/chunk-000/{video_key}/episode_000215.mp4", "tasks": ["Take laundry detergent to cart."], "length": 723, "action_config": [{"start_frame": 0, "end_frame": 201, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 201, "end_frame": 336, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 336, "end_frame": 441, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 441, "end_frame": 539, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up a blue bottled laundry detergent from the shelf and rotated its waist."}, {"start_frame": 539, "end_frame": 603, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}, {"start_frame": 603, "end_frame": 723, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the blue bottled laundry detergent from the first row of the shelf, rotate your waist, and place the bottle into the shopping cart."]}
{"task_id": "take_laundry_detergent_to_cart", "episode_index": 216, "video_path": "take_laundry_detergent_to_cart/videos/chunk-000/{video_key}/episode_000216.mp4", "tasks": ["Take laundry detergent to cart."], "length": 1086, "action_config": [{"start_frame": 0, "end_frame": 331, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 331, "end_frame": 646, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 646, "end_frame": 763, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 763, "end_frame": 852, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up a blue bottled laundry detergent from the shelf and rotated its waist."}, {"start_frame": 852, "end_frame": 1020, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}, {"start_frame": 1020, "end_frame": 1086, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the blue bottled laundry detergent from the first row of the shelf, rotate your waist, and place the bottle into the shopping cart."]}
{"task_id": "take_laundry_detergent_to_cart", "episode_index": 217, "video_path": "take_laundry_detergent_to_cart/videos/chunk-000/{video_key}/episode_000217.mp4", "tasks": ["Take laundry detergent to cart."], "length": 674, "action_config": [{"start_frame": 0, "end_frame": 240, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 240, "end_frame": 376, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 376, "end_frame": 471, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 471, "end_frame": 537, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up a blue bottled laundry detergent from the shelf and rotated its waist."}, {"start_frame": 537, "end_frame": 619, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}, {"start_frame": 619, "end_frame": 674, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the blue bottled laundry detergent from the first row of the shelf, rotate your waist, and place the bottle into the shopping cart."]}
{"task_id": "take_laundry_detergent_to_cart", "episode_index": 218, "video_path": "take_laundry_detergent_to_cart/videos/chunk-000/{video_key}/episode_000218.mp4", "tasks": ["Take laundry detergent to cart."], "length": 560, "action_config": [{"start_frame": 0, "end_frame": 154, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 154, "end_frame": 267, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 267, "end_frame": 359, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 359, "end_frame": 422, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up a blue bottled laundry detergent from the shelf and rotated its waist."}, {"start_frame": 422, "end_frame": 522, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}, {"start_frame": 522, "end_frame": 560, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the blue bottled laundry detergent from the first row of the shelf, rotate your waist, and place the bottle into the shopping cart."]}
{"task_id": "take_laundry_detergent_to_cart", "episode_index": 219, "video_path": "take_laundry_detergent_to_cart/videos/chunk-000/{video_key}/episode_000219.mp4", "tasks": ["Take laundry detergent to cart."], "length": 617, "action_config": [{"start_frame": 0, "end_frame": 192, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 192, "end_frame": 306, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 306, "end_frame": 414, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 414, "end_frame": 501, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up a blue bottled laundry detergent from the shelf and rotated its waist."}, {"start_frame": 501, "end_frame": 561, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}, {"start_frame": 561, "end_frame": 617, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the blue bottled laundry detergent from the first row of the shelf, rotate your waist, and place the bottle into the shopping cart."]}
{"task_id": "take_laundry_detergent_to_cart", "episode_index": 220, "video_path": "take_laundry_detergent_to_cart/videos/chunk-000/{video_key}/episode_000220.mp4", "tasks": ["Take laundry detergent to cart."], "length": 804, "action_config": [{"start_frame": 0, "end_frame": 258, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 258, "end_frame": 418, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 418, "end_frame": 524, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 524, "end_frame": 597, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up a blue bottled laundry detergent from the shelf and rotated its waist."}, {"start_frame": 597, "end_frame": 714, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}, {"start_frame": 714, "end_frame": 804, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the blue bottled laundry detergent from the first row of the shelf, rotate your waist, and place the bottle into the shopping cart."]}
{"task_id": "take_laundry_detergent_to_cart", "episode_index": 221, "video_path": "take_laundry_detergent_to_cart/videos/chunk-000/{video_key}/episode_000221.mp4", "tasks": ["Take laundry detergent to cart."], "length": 948, "action_config": [{"start_frame": 0, "end_frame": 291, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 291, "end_frame": 558, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 558, "end_frame": 669, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 669, "end_frame": 750, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up a blue bottled laundry detergent from the shelf and rotated its waist."}, {"start_frame": 750, "end_frame": 819, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}, {"start_frame": 819, "end_frame": 948, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the blue bottled laundry detergent from the first row of the shelf, rotate your waist, and place the bottle into the shopping cart."]}
{"task_id": "take_laundry_detergent_to_cart", "episode_index": 222, "video_path": "take_laundry_detergent_to_cart/videos/chunk-000/{video_key}/episode_000222.mp4", "tasks": ["Take laundry detergent to cart."], "length": 618, "action_config": [{"start_frame": 0, "end_frame": 158, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 158, "end_frame": 288, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 288, "end_frame": 385, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 385, "end_frame": 475, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up a blue bottled laundry detergent from the shelf and rotated its waist."}, {"start_frame": 475, "end_frame": 558, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}, {"start_frame": 558, "end_frame": 618, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the blue bottled laundry detergent from the first row of the shelf, rotate your waist, and place the bottle into the shopping cart."]}
{"task_id": "take_laundry_detergent_to_cart", "episode_index": 223, "video_path": "take_laundry_detergent_to_cart/videos/chunk-000/{video_key}/episode_000223.mp4", "tasks": ["Take laundry detergent to cart."], "length": 644, "action_config": [{"start_frame": 0, "end_frame": 183, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 183, "end_frame": 330, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 330, "end_frame": 434, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 434, "end_frame": 486, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up a blue bottled laundry detergent from the shelf and rotated its waist."}, {"start_frame": 486, "end_frame": 549, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}, {"start_frame": 549, "end_frame": 644, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the blue bottled laundry detergent from the first row of the shelf, rotate your waist, and place the bottle into the shopping cart."]}
{"task_id": "take_laundry_detergent_to_cart", "episode_index": 224, "video_path": "take_laundry_detergent_to_cart/videos/chunk-000/{video_key}/episode_000224.mp4", "tasks": ["Take laundry detergent to cart."], "length": 676, "action_config": [{"start_frame": 0, "end_frame": 190, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 190, "end_frame": 336, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 336, "end_frame": 481, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 481, "end_frame": 562, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up a blue bottled laundry detergent from the shelf and rotated its waist."}, {"start_frame": 562, "end_frame": 639, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}, {"start_frame": 639, "end_frame": 676, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the blue bottled laundry detergent from the first row of the shelf, rotate your waist, and place the bottle into the shopping cart."]}
{"task_id": "take_laundry_detergent_to_cart", "episode_index": 225, "video_path": "take_laundry_detergent_to_cart/videos/chunk-000/{video_key}/episode_000225.mp4", "tasks": ["Take laundry detergent to cart."], "length": 588, "action_config": [{"start_frame": 0, "end_frame": 145, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 145, "end_frame": 273, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 273, "end_frame": 372, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 372, "end_frame": 441, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up a blue bottled laundry detergent from the shelf and rotated its waist."}, {"start_frame": 441, "end_frame": 534, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}, {"start_frame": 534, "end_frame": 588, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the blue bottled laundry detergent from the first row of the shelf, rotate your waist, and place the bottle into the shopping cart."]}
{"task_id": "take_laundry_detergent_to_cart", "episode_index": 226, "video_path": "take_laundry_detergent_to_cart/videos/chunk-000/{video_key}/episode_000226.mp4", "tasks": ["Take laundry detergent to cart."], "length": 922, "action_config": [{"start_frame": 0, "end_frame": 340, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 340, "end_frame": 522, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 522, "end_frame": 648, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 648, "end_frame": 745, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up a blue bottled laundry detergent from the shelf and rotated its waist."}, {"start_frame": 745, "end_frame": 861, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}, {"start_frame": 861, "end_frame": 922, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the blue bottled laundry detergent from the first row of the shelf, rotate your waist, and place the bottle into the shopping cart."]}
{"task_id": "take_laundry_detergent_to_cart", "episode_index": 227, "video_path": "take_laundry_detergent_to_cart/videos/chunk-000/{video_key}/episode_000227.mp4", "tasks": ["Take laundry detergent to cart."], "length": 943, "action_config": [{"start_frame": 0, "end_frame": 276, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 276, "end_frame": 563, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 563, "end_frame": 681, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 681, "end_frame": 756, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up a blue bottled laundry detergent from the shelf and rotated its waist."}, {"start_frame": 756, "end_frame": 891, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}, {"start_frame": 891, "end_frame": 943, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the blue bottled laundry detergent from the first row of the shelf, rotate your waist, and place the bottle into the shopping cart."]}
{"task_id": "take_laundry_detergent_to_cart", "episode_index": 228, "video_path": "take_laundry_detergent_to_cart/videos/chunk-000/{video_key}/episode_000228.mp4", "tasks": ["Take laundry detergent to cart."], "length": 640, "action_config": [{"start_frame": 0, "end_frame": 228, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 228, "end_frame": 327, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 327, "end_frame": 434, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 434, "end_frame": 501, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up a blue bottled laundry detergent from the shelf and rotated its waist."}, {"start_frame": 501, "end_frame": 561, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}, {"start_frame": 561, "end_frame": 640, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the blue bottled laundry detergent from the first row of the shelf, rotate your waist, and place the bottle into the shopping cart."]}
{"task_id": "take_laundry_detergent_to_cart", "episode_index": 229, "video_path": "take_laundry_detergent_to_cart/videos/chunk-000/{video_key}/episode_000229.mp4", "tasks": ["Take laundry detergent to cart."], "length": 527, "action_config": [{"start_frame": 0, "end_frame": 140, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 140, "end_frame": 233, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 233, "end_frame": 318, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 318, "end_frame": 390, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up a blue bottled laundry detergent from the shelf and rotated its waist."}, {"start_frame": 390, "end_frame": 474, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}, {"start_frame": 474, "end_frame": 527, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the blue bottled laundry detergent from the first row of the shelf, rotate your waist, and place the bottle into the shopping cart."]}
{"task_id": "take_laundry_detergent_to_cart", "episode_index": 230, "video_path": "take_laundry_detergent_to_cart/videos/chunk-000/{video_key}/episode_000230.mp4", "tasks": ["Take laundry detergent to cart."], "length": 720, "action_config": [{"start_frame": 0, "end_frame": 201, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 201, "end_frame": 353, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 353, "end_frame": 465, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 465, "end_frame": 522, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up a blue bottled laundry detergent from the shelf and rotated its waist."}, {"start_frame": 522, "end_frame": 602, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}, {"start_frame": 602, "end_frame": 720, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the blue bottled laundry detergent from the first row of the shelf, rotate your waist, and place the bottle into the shopping cart."]}
{"task_id": "take_laundry_detergent_to_cart", "episode_index": 231, "video_path": "take_laundry_detergent_to_cart/videos/chunk-000/{video_key}/episode_000231.mp4", "tasks": ["Take laundry detergent to cart."], "length": 578, "action_config": [{"start_frame": 0, "end_frame": 180, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 180, "end_frame": 309, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 309, "end_frame": 409, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 409, "end_frame": 468, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up a blue bottled laundry detergent from the shelf and rotated its waist."}, {"start_frame": 468, "end_frame": 541, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}, {"start_frame": 541, "end_frame": 578, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the blue bottled laundry detergent from the first row of the shelf, rotate your waist, and place the bottle into the shopping cart."]}
{"task_id": "take_laundry_detergent_to_cart", "episode_index": 232, "video_path": "take_laundry_detergent_to_cart/videos/chunk-000/{video_key}/episode_000232.mp4", "tasks": ["Take laundry detergent to cart."], "length": 726, "action_config": [{"start_frame": 0, "end_frame": 216, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 216, "end_frame": 336, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 336, "end_frame": 453, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 453, "end_frame": 531, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up a blue bottled laundry detergent from the shelf and rotated its waist."}, {"start_frame": 531, "end_frame": 639, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}, {"start_frame": 639, "end_frame": 726, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the blue bottled laundry detergent from the first row of the shelf, rotate your waist, and place the bottle into the shopping cart."]}
{"task_id": "take_laundry_detergent_to_cart", "episode_index": 233, "video_path": "take_laundry_detergent_to_cart/videos/chunk-000/{video_key}/episode_000233.mp4", "tasks": ["Take laundry detergent to cart."], "length": 662, "action_config": [{"start_frame": 0, "end_frame": 177, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 177, "end_frame": 312, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 312, "end_frame": 427, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 427, "end_frame": 498, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up a blue bottled laundry detergent from the shelf and rotated its waist."}, {"start_frame": 498, "end_frame": 618, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}, {"start_frame": 618, "end_frame": 648, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the blue bottled laundry detergent from the first row of the shelf, rotate your waist, and place the bottle into the shopping cart."]}
{"task_id": "take_laundry_detergent_to_cart", "episode_index": 234, "video_path": "take_laundry_detergent_to_cart/videos/chunk-000/{video_key}/episode_000234.mp4", "tasks": ["Take laundry detergent to cart."], "length": 611, "action_config": [{"start_frame": 0, "end_frame": 183, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 183, "end_frame": 299, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 299, "end_frame": 393, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 393, "end_frame": 458, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up a blue bottled laundry detergent from the shelf and rotated its waist."}, {"start_frame": 458, "end_frame": 569, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}, {"start_frame": 569, "end_frame": 597, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the blue bottled laundry detergent from the first row of the shelf, rotate your waist, and place the bottle into the shopping cart."]}
{"task_id": "take_laundry_detergent_to_cart", "episode_index": 235, "video_path": "take_laundry_detergent_to_cart/videos/chunk-000/{video_key}/episode_000235.mp4", "tasks": ["Take laundry detergent to cart."], "length": 785, "action_config": [{"start_frame": 0, "end_frame": 222, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 222, "end_frame": 379, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 379, "end_frame": 484, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 484, "end_frame": 579, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up a blue bottled laundry detergent from the shelf and rotated its waist."}, {"start_frame": 579, "end_frame": 705, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}, {"start_frame": 705, "end_frame": 785, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the blue bottled laundry detergent from the first row of the shelf, rotate your waist, and place the bottle into the shopping cart."]}
{"task_id": "take_laundry_detergent_to_cart", "episode_index": 236, "video_path": "take_laundry_detergent_to_cart/videos/chunk-000/{video_key}/episode_000236.mp4", "tasks": ["Take laundry detergent to cart."], "length": 715, "action_config": [{"start_frame": 0, "end_frame": 192, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 192, "end_frame": 366, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 366, "end_frame": 466, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 466, "end_frame": 546, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up a blue bottled laundry detergent from the shelf and rotated its waist."}, {"start_frame": 546, "end_frame": 606, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}, {"start_frame": 606, "end_frame": 715, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the blue bottled laundry detergent from the first row of the shelf, rotate your waist, and place the bottle into the shopping cart."]}
{"task_id": "take_laundry_detergent_to_cart", "episode_index": 237, "video_path": "take_laundry_detergent_to_cart/videos/chunk-000/{video_key}/episode_000237.mp4", "tasks": ["Take laundry detergent to cart."], "length": 936, "action_config": [{"start_frame": 13, "end_frame": 204, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 204, "end_frame": 348, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 348, "end_frame": 489, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 489, "end_frame": 576, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up a blue bottled laundry detergent from the shelf and rotated its waist."}, {"start_frame": 576, "end_frame": 876, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}, {"start_frame": 876, "end_frame": 918, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the blue bottled laundry detergent from the first row of the shelf, rotate your waist, and place the bottle into the shopping cart."]}
{"task_id": "take_laundry_detergent_to_cart", "episode_index": 238, "video_path": "take_laundry_detergent_to_cart/videos/chunk-000/{video_key}/episode_000238.mp4", "tasks": ["Take laundry detergent to cart."], "length": 767, "action_config": [{"start_frame": 0, "end_frame": 198, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 198, "end_frame": 439, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 439, "end_frame": 501, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 501, "end_frame": 544, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up a blue bottled laundry detergent from the shelf and rotated its waist."}, {"start_frame": 544, "end_frame": 687, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}, {"start_frame": 687, "end_frame": 767, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the blue bottled laundry detergent from the first row of the shelf, rotate your waist, and place the bottle into the shopping cart."]}
{"task_id": "take_laundry_detergent_to_cart", "episode_index": 239, "video_path": "take_laundry_detergent_to_cart/videos/chunk-000/{video_key}/episode_000239.mp4", "tasks": ["Take laundry detergent to cart."], "length": 1034, "action_config": [{"start_frame": 0, "end_frame": 358, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 358, "end_frame": 648, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 648, "end_frame": 756, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 756, "end_frame": 837, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up a blue bottled laundry detergent from the shelf and rotated its waist."}, {"start_frame": 837, "end_frame": 989, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}, {"start_frame": 989, "end_frame": 1021, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the blue bottled laundry detergent from the first row of the shelf, rotate your waist, and place the bottle into the shopping cart."]}
{"task_id": "take_laundry_detergent_to_cart", "episode_index": 240, "video_path": "take_laundry_detergent_to_cart/videos/chunk-000/{video_key}/episode_000240.mp4", "tasks": ["Take laundry detergent to cart."], "length": 641, "action_config": [{"start_frame": 0, "end_frame": 198, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 198, "end_frame": 322, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 322, "end_frame": 425, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 425, "end_frame": 481, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up a blue bottled laundry detergent from the shelf and rotated its waist."}, {"start_frame": 481, "end_frame": 596, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}, {"start_frame": 596, "end_frame": 630, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the blue bottled laundry detergent from the first row of the shelf, rotate your waist, and place the bottle into the shopping cart."]}
{"task_id": "take_laundry_detergent_to_cart", "episode_index": 241, "video_path": "take_laundry_detergent_to_cart/videos/chunk-000/{video_key}/episode_000241.mp4", "tasks": ["Take laundry detergent to cart."], "length": 767, "action_config": [{"start_frame": 27, "end_frame": 213, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 213, "end_frame": 363, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 363, "end_frame": 483, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 483, "end_frame": 594, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up a blue bottled laundry detergent from the shelf and rotated its waist."}, {"start_frame": 594, "end_frame": 731, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}, {"start_frame": 731, "end_frame": 767, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the blue bottled laundry detergent from the first row of the shelf, rotate your waist, and place the bottle into the shopping cart."]}
{"task_id": "take_laundry_detergent_to_cart", "episode_index": 242, "video_path": "take_laundry_detergent_to_cart/videos/chunk-000/{video_key}/episode_000242.mp4", "tasks": ["Take laundry detergent to cart."], "length": 733, "action_config": [{"start_frame": 18, "end_frame": 207, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 207, "end_frame": 372, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 372, "end_frame": 492, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 492, "end_frame": 561, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up a blue bottled laundry detergent from the shelf and rotated its waist."}, {"start_frame": 561, "end_frame": 693, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}, {"start_frame": 693, "end_frame": 725, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the blue bottled laundry detergent from the first row of the shelf, rotate your waist, and place the bottle into the shopping cart."]}
{"task_id": "take_laundry_detergent_to_cart", "episode_index": 243, "video_path": "take_laundry_detergent_to_cart/videos/chunk-000/{video_key}/episode_000243.mp4", "tasks": ["Take laundry detergent to cart."], "length": 635, "action_config": [{"start_frame": 0, "end_frame": 183, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 183, "end_frame": 313, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 313, "end_frame": 413, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 413, "end_frame": 481, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up a blue bottled laundry detergent from the shelf and rotated its waist."}, {"start_frame": 481, "end_frame": 582, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}, {"start_frame": 582, "end_frame": 620, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the blue bottled laundry detergent from the first row of the shelf, rotate your waist, and place the bottle into the shopping cart."]}
{"task_id": "take_laundry_detergent_to_cart", "episode_index": 244, "video_path": "take_laundry_detergent_to_cart/videos/chunk-000/{video_key}/episode_000244.mp4", "tasks": ["Take laundry detergent to cart."], "length": 562, "action_config": [{"start_frame": 11, "end_frame": 162, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 162, "end_frame": 267, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 267, "end_frame": 384, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 384, "end_frame": 447, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up a blue bottled laundry detergent from the shelf and rotated its waist."}, {"start_frame": 447, "end_frame": 522, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}, {"start_frame": 522, "end_frame": 562, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the blue bottled laundry detergent from the first row of the shelf, rotate your waist, and place the bottle into the shopping cart."]}
{"task_id": "take_laundry_detergent_to_cart", "episode_index": 245, "video_path": "take_laundry_detergent_to_cart/videos/chunk-000/{video_key}/episode_000245.mp4", "tasks": ["Take laundry detergent to cart."], "length": 629, "action_config": [{"start_frame": 0, "end_frame": 147, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 147, "end_frame": 324, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 324, "end_frame": 426, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 426, "end_frame": 489, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up a blue bottled laundry detergent from the shelf and rotated its waist."}, {"start_frame": 489, "end_frame": 596, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}, {"start_frame": 596, "end_frame": 624, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the blue bottled laundry detergent from the first row of the shelf, rotate your waist, and place the bottle into the shopping cart."]}
{"task_id": "take_laundry_detergent_to_cart", "episode_index": 246, "video_path": "take_laundry_detergent_to_cart/videos/chunk-000/{video_key}/episode_000246.mp4", "tasks": ["Take laundry detergent to cart."], "length": 631, "action_config": [{"start_frame": 15, "end_frame": 189, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 189, "end_frame": 315, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 315, "end_frame": 451, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 451, "end_frame": 525, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up a blue bottled laundry detergent from the shelf and rotated its waist."}, {"start_frame": 525, "end_frame": 598, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}, {"start_frame": 598, "end_frame": 631, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the blue bottled laundry detergent from the first row of the shelf, rotate your waist, and place the bottle into the shopping cart."]}
{"task_id": "take_laundry_detergent_to_cart", "episode_index": 247, "video_path": "take_laundry_detergent_to_cart/videos/chunk-000/{video_key}/episode_000247.mp4", "tasks": ["Take laundry detergent to cart."], "length": 614, "action_config": [{"start_frame": 0, "end_frame": 142, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 142, "end_frame": 303, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 303, "end_frame": 396, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 396, "end_frame": 459, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up a blue bottled laundry detergent from the shelf and rotated its waist."}, {"start_frame": 459, "end_frame": 570, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}, {"start_frame": 570, "end_frame": 603, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the blue bottled laundry detergent from the first row of the shelf, rotate your waist, and place the bottle into the shopping cart."]}
{"task_id": "take_laundry_detergent_to_cart", "episode_index": 248, "video_path": "take_laundry_detergent_to_cart/videos/chunk-000/{video_key}/episode_000248.mp4", "tasks": ["Take laundry detergent to cart."], "length": 846, "action_config": [{"start_frame": 33, "end_frame": 249, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 249, "end_frame": 396, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 396, "end_frame": 554, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 554, "end_frame": 630, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up a blue bottled laundry detergent from the shelf and rotated its waist."}, {"start_frame": 630, "end_frame": 786, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}, {"start_frame": 786, "end_frame": 827, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the blue bottled laundry detergent from the first row of the shelf, rotate your waist, and place the bottle into the shopping cart."]}
{"task_id": "take_laundry_detergent_to_cart", "episode_index": 249, "video_path": "take_laundry_detergent_to_cart/videos/chunk-000/{video_key}/episode_000249.mp4", "tasks": ["Take laundry detergent to cart."], "length": 823, "action_config": [{"start_frame": 0, "end_frame": 250, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 250, "end_frame": 438, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 438, "end_frame": 552, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 552, "end_frame": 648, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up a blue bottled laundry detergent from the shelf and rotated its waist."}, {"start_frame": 648, "end_frame": 782, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}, {"start_frame": 782, "end_frame": 812, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the blue bottled laundry detergent from the first row of the shelf, rotate your waist, and place the bottle into the shopping cart."]}
{"task_id": "take_laundry_detergent_to_cart", "episode_index": 250, "video_path": "take_laundry_detergent_to_cart/videos/chunk-000/{video_key}/episode_000250.mp4", "tasks": ["Take laundry detergent to cart."], "length": 734, "action_config": [{"start_frame": 17, "end_frame": 184, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 184, "end_frame": 324, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 324, "end_frame": 456, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 456, "end_frame": 555, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up a blue bottled laundry detergent from the shelf and rotated its waist."}, {"start_frame": 555, "end_frame": 681, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}, {"start_frame": 681, "end_frame": 721, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the blue bottled laundry detergent from the first row of the shelf, rotate your waist, and place the bottle into the shopping cart."]}
{"task_id": "take_laundry_detergent_to_cart", "episode_index": 251, "video_path": "take_laundry_detergent_to_cart/videos/chunk-000/{video_key}/episode_000251.mp4", "tasks": ["Take laundry detergent to cart."], "length": 633, "action_config": [{"start_frame": 10, "end_frame": 195, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 195, "end_frame": 291, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 291, "end_frame": 405, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 405, "end_frame": 480, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up a blue bottled laundry detergent from the shelf and rotated its waist."}, {"start_frame": 480, "end_frame": 597, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}, {"start_frame": 597, "end_frame": 629, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the blue bottled laundry detergent from the first row of the shelf, rotate your waist, and place the bottle into the shopping cart."]}
{"task_id": "take_laundry_detergent_to_cart", "episode_index": 252, "video_path": "take_laundry_detergent_to_cart/videos/chunk-000/{video_key}/episode_000252.mp4", "tasks": ["Take laundry detergent to cart."], "length": 810, "action_config": [{"start_frame": 0, "end_frame": 219, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 219, "end_frame": 441, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 441, "end_frame": 544, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 544, "end_frame": 617, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up a blue bottled laundry detergent from the shelf and rotated its waist."}, {"start_frame": 617, "end_frame": 758, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}, {"start_frame": 758, "end_frame": 798, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the blue bottled laundry detergent from the first row of the shelf, rotate your waist, and place the bottle into the shopping cart."]}
{"task_id": "take_laundry_detergent_to_cart", "episode_index": 253, "video_path": "take_laundry_detergent_to_cart/videos/chunk-000/{video_key}/episode_000253.mp4", "tasks": ["Take laundry detergent to cart."], "length": 613, "action_config": [{"start_frame": 15, "end_frame": 171, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 171, "end_frame": 296, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 296, "end_frame": 417, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 417, "end_frame": 481, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up a blue bottled laundry detergent from the shelf and rotated its waist."}, {"start_frame": 481, "end_frame": 570, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}, {"start_frame": 570, "end_frame": 603, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the blue bottled laundry detergent from the first row of the shelf, rotate your waist, and place the bottle into the shopping cart."]}
{"task_id": "take_laundry_detergent_to_cart", "episode_index": 254, "video_path": "take_laundry_detergent_to_cart/videos/chunk-000/{video_key}/episode_000254.mp4", "tasks": ["Take laundry detergent to cart."], "length": 676, "action_config": [{"start_frame": 6, "end_frame": 199, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 199, "end_frame": 338, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 338, "end_frame": 450, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 450, "end_frame": 540, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up a blue bottled laundry detergent from the shelf and rotated its waist."}, {"start_frame": 540, "end_frame": 630, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}, {"start_frame": 630, "end_frame": 666, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the blue bottled laundry detergent from the first row of the shelf, rotate your waist, and place the bottle into the shopping cart."]}
{"task_id": "take_laundry_detergent_to_cart", "episode_index": 255, "video_path": "take_laundry_detergent_to_cart/videos/chunk-000/{video_key}/episode_000255.mp4", "tasks": ["Take laundry detergent to cart."], "length": 696, "action_config": [{"start_frame": 20, "end_frame": 204, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 204, "end_frame": 324, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 324, "end_frame": 449, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 449, "end_frame": 512, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up a blue bottled laundry detergent from the shelf and rotated its waist."}, {"start_frame": 512, "end_frame": 639, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}, {"start_frame": 639, "end_frame": 678, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the blue bottled laundry detergent from the first row of the shelf, rotate your waist, and place the bottle into the shopping cart."]}
{"task_id": "take_laundry_detergent_to_cart", "episode_index": 256, "video_path": "take_laundry_detergent_to_cart/videos/chunk-000/{video_key}/episode_000256.mp4", "tasks": ["Take laundry detergent to cart."], "length": 781, "action_config": [{"start_frame": 27, "end_frame": 219, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 219, "end_frame": 390, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 390, "end_frame": 539, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 539, "end_frame": 600, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up a blue bottled laundry detergent from the shelf and rotated its waist."}, {"start_frame": 600, "end_frame": 713, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}, {"start_frame": 713, "end_frame": 758, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the blue bottled laundry detergent from the first row of the shelf, rotate your waist, and place the bottle into the shopping cart."]}
{"task_id": "take_laundry_detergent_to_cart", "episode_index": 257, "video_path": "take_laundry_detergent_to_cart/videos/chunk-000/{video_key}/episode_000257.mp4", "tasks": ["Take laundry detergent to cart."], "length": 836, "action_config": [{"start_frame": 32, "end_frame": 267, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 267, "end_frame": 443, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 443, "end_frame": 579, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 579, "end_frame": 656, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up a blue bottled laundry detergent from the shelf and rotated its waist."}, {"start_frame": 656, "end_frame": 786, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}, {"start_frame": 786, "end_frame": 826, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the blue bottled laundry detergent from the first row of the shelf, rotate your waist, and place the bottle into the shopping cart."]}
{"task_id": "take_laundry_detergent_to_cart", "episode_index": 258, "video_path": "take_laundry_detergent_to_cart/videos/chunk-000/{video_key}/episode_000258.mp4", "tasks": ["Take laundry detergent to cart."], "length": 691, "action_config": [{"start_frame": 9, "end_frame": 172, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 172, "end_frame": 332, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 332, "end_frame": 440, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 440, "end_frame": 513, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up a blue bottled laundry detergent from the shelf and rotated its waist."}, {"start_frame": 513, "end_frame": 647, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}, {"start_frame": 647, "end_frame": 681, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the blue bottled laundry detergent from the first row of the shelf, rotate your waist, and place the bottle into the shopping cart."]}
{"task_id": "take_laundry_detergent_to_cart", "episode_index": 259, "video_path": "take_laundry_detergent_to_cart/videos/chunk-000/{video_key}/episode_000259.mp4", "tasks": ["Take laundry detergent to cart."], "length": 662, "action_config": [{"start_frame": 15, "end_frame": 195, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 195, "end_frame": 330, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 330, "end_frame": 451, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 451, "end_frame": 528, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up a blue bottled laundry detergent from the shelf and rotated its waist."}, {"start_frame": 528, "end_frame": 618, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}, {"start_frame": 618, "end_frame": 650, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the blue bottled laundry detergent from the first row of the shelf, rotate your waist, and place the bottle into the shopping cart."]}
{"task_id": "take_laundry_detergent_to_cart", "episode_index": 260, "video_path": "take_laundry_detergent_to_cart/videos/chunk-000/{video_key}/episode_000260.mp4", "tasks": ["Take laundry detergent to cart."], "length": 940, "action_config": [{"start_frame": 30, "end_frame": 273, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 273, "end_frame": 495, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 495, "end_frame": 660, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 660, "end_frame": 772, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up a blue bottled laundry detergent from the shelf and rotated its waist."}, {"start_frame": 772, "end_frame": 885, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}, {"start_frame": 885, "end_frame": 930, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the blue bottled laundry detergent from the first row of the shelf, rotate your waist, and place the bottle into the shopping cart."]}
{"task_id": "take_laundry_detergent_to_cart", "episode_index": 261, "video_path": "take_laundry_detergent_to_cart/videos/chunk-000/{video_key}/episode_000261.mp4", "tasks": ["Take laundry detergent to cart."], "length": 673, "action_config": [{"start_frame": 20, "end_frame": 210, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 210, "end_frame": 329, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 329, "end_frame": 444, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 444, "end_frame": 502, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up a blue bottled laundry detergent from the shelf and rotated its waist."}, {"start_frame": 502, "end_frame": 630, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}, {"start_frame": 630, "end_frame": 663, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the blue bottled laundry detergent from the first row of the shelf, rotate your waist, and place the bottle into the shopping cart."]}
{"task_id": "take_laundry_detergent_to_cart", "episode_index": 262, "video_path": "take_laundry_detergent_to_cart/videos/chunk-000/{video_key}/episode_000262.mp4", "tasks": ["Take laundry detergent to cart."], "length": 737, "action_config": [{"start_frame": 30, "end_frame": 207, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 207, "end_frame": 351, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 351, "end_frame": 488, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 488, "end_frame": 568, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up a blue bottled laundry detergent from the shelf and rotated its waist."}, {"start_frame": 568, "end_frame": 690, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}, {"start_frame": 690, "end_frame": 728, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the blue bottled laundry detergent from the first row of the shelf, rotate your waist, and place the bottle into the shopping cart."]}
{"task_id": "take_laundry_detergent_to_cart", "episode_index": 263, "video_path": "take_laundry_detergent_to_cart/videos/chunk-000/{video_key}/episode_000263.mp4", "tasks": ["Take laundry detergent to cart."], "length": 661, "action_config": [{"start_frame": 17, "end_frame": 234, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 234, "end_frame": 365, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 365, "end_frame": 488, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 488, "end_frame": 546, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up a blue bottled laundry detergent from the shelf and rotated its waist."}, {"start_frame": 546, "end_frame": 630, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}, {"start_frame": 630, "end_frame": 661, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the blue bottled laundry detergent from the first row of the shelf, rotate your waist, and place the bottle into the shopping cart."]}
{"task_id": "take_laundry_detergent_to_cart", "episode_index": 264, "video_path": "take_laundry_detergent_to_cart/videos/chunk-000/{video_key}/episode_000264.mp4", "tasks": ["Take laundry detergent to cart."], "length": 669, "action_config": [{"start_frame": 17, "end_frame": 176, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 176, "end_frame": 333, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 333, "end_frame": 467, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 467, "end_frame": 530, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up a blue bottled laundry detergent from the shelf and rotated its waist."}, {"start_frame": 530, "end_frame": 632, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}, {"start_frame": 632, "end_frame": 669, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the blue bottled laundry detergent from the first row of the shelf, rotate your waist, and place the bottle into the shopping cart."]}
{"task_id": "take_laundry_detergent_to_cart", "episode_index": 265, "video_path": "take_laundry_detergent_to_cart/videos/chunk-000/{video_key}/episode_000265.mp4", "tasks": ["Take laundry detergent to cart."], "length": 761, "action_config": [{"start_frame": 12, "end_frame": 207, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 207, "end_frame": 368, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 368, "end_frame": 519, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 519, "end_frame": 588, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up a blue bottled laundry detergent from the shelf and rotated its waist."}, {"start_frame": 588, "end_frame": 699, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}, {"start_frame": 699, "end_frame": 746, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the blue bottled laundry detergent from the first row of the shelf, rotate your waist, and place the bottle into the shopping cart."]}
{"task_id": "take_laundry_detergent_to_cart", "episode_index": 266, "video_path": "take_laundry_detergent_to_cart/videos/chunk-000/{video_key}/episode_000266.mp4", "tasks": ["Take laundry detergent to cart."], "length": 796, "action_config": [{"start_frame": 12, "end_frame": 234, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 234, "end_frame": 420, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 420, "end_frame": 534, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 534, "end_frame": 607, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up a blue bottled laundry detergent from the shelf and rotated its waist."}, {"start_frame": 607, "end_frame": 750, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}, {"start_frame": 750, "end_frame": 796, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the blue bottled laundry detergent from the first row of the shelf, rotate your waist, and place the bottle into the shopping cart."]}
{"task_id": "take_laundry_detergent_to_cart", "episode_index": 267, "video_path": "take_laundry_detergent_to_cart/videos/chunk-000/{video_key}/episode_000267.mp4", "tasks": ["Take laundry detergent to cart."], "length": 670, "action_config": [{"start_frame": 15, "end_frame": 232, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 232, "end_frame": 356, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 356, "end_frame": 480, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 480, "end_frame": 542, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up a blue bottled laundry detergent from the shelf and rotated its waist."}, {"start_frame": 542, "end_frame": 627, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}, {"start_frame": 627, "end_frame": 657, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the blue bottled laundry detergent from the first row of the shelf, rotate your waist, and place the bottle into the shopping cart."]}
{"task_id": "take_laundry_detergent_to_cart", "episode_index": 268, "video_path": "take_laundry_detergent_to_cart/videos/chunk-000/{video_key}/episode_000268.mp4", "tasks": ["Take laundry detergent to cart."], "length": 629, "action_config": [{"start_frame": 12, "end_frame": 153, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 153, "end_frame": 286, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 286, "end_frame": 396, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 396, "end_frame": 460, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up a blue bottled laundry detergent from the shelf and rotated its waist."}, {"start_frame": 460, "end_frame": 589, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}, {"start_frame": 589, "end_frame": 629, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the blue bottled laundry detergent from the first row of the shelf, rotate your waist, and place the bottle into the shopping cart."]}
{"task_id": "take_laundry_detergent_to_cart", "episode_index": 269, "video_path": "take_laundry_detergent_to_cart/videos/chunk-000/{video_key}/episode_000269.mp4", "tasks": ["Take laundry detergent to cart."], "length": 673, "action_config": [{"start_frame": 12, "end_frame": 201, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 201, "end_frame": 331, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 331, "end_frame": 450, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 450, "end_frame": 525, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up a blue bottled laundry detergent from the shelf and rotated its waist."}, {"start_frame": 525, "end_frame": 630, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}, {"start_frame": 630, "end_frame": 666, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the blue bottled laundry detergent from the first row of the shelf, rotate your waist, and place the bottle into the shopping cart."]}
{"task_id": "take_laundry_detergent_to_cart", "episode_index": 270, "video_path": "take_laundry_detergent_to_cart/videos/chunk-000/{video_key}/episode_000270.mp4", "tasks": ["Take laundry detergent to cart."], "length": 760, "action_config": [{"start_frame": 15, "end_frame": 208, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 208, "end_frame": 399, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 399, "end_frame": 550, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 550, "end_frame": 616, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up a blue bottled laundry detergent from the shelf and rotated its waist."}, {"start_frame": 616, "end_frame": 713, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}, {"start_frame": 713, "end_frame": 748, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the blue bottled laundry detergent from the first row of the shelf, rotate your waist, and place the bottle into the shopping cart."]}
{"task_id": "take_laundry_detergent_to_cart", "episode_index": 271, "video_path": "take_laundry_detergent_to_cart/videos/chunk-000/{video_key}/episode_000271.mp4", "tasks": ["Take laundry detergent to cart."], "length": 608, "action_config": [{"start_frame": 20, "end_frame": 171, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 171, "end_frame": 297, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 297, "end_frame": 413, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 413, "end_frame": 483, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up a blue bottled laundry detergent from the shelf and rotated its waist."}, {"start_frame": 483, "end_frame": 573, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}, {"start_frame": 573, "end_frame": 608, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the blue bottled laundry detergent from the first row of the shelf, rotate your waist, and place the bottle into the shopping cart."]}
{"task_id": "take_laundry_detergent_to_cart", "episode_index": 272, "video_path": "take_laundry_detergent_to_cart/videos/chunk-000/{video_key}/episode_000272.mp4", "tasks": ["Take laundry detergent to cart."], "length": 719, "action_config": [{"start_frame": 15, "end_frame": 174, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 174, "end_frame": 335, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 335, "end_frame": 453, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 453, "end_frame": 580, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up a blue bottled laundry detergent from the shelf and rotated its waist."}, {"start_frame": 580, "end_frame": 676, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}, {"start_frame": 676, "end_frame": 708, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the blue bottled laundry detergent from the first row of the shelf, rotate your waist, and place the bottle into the shopping cart."]}
{"task_id": "take_laundry_detergent_to_cart", "episode_index": 273, "video_path": "take_laundry_detergent_to_cart/videos/chunk-000/{video_key}/episode_000273.mp4", "tasks": ["Take laundry detergent to cart."], "length": 793, "action_config": [{"start_frame": 39, "end_frame": 218, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 218, "end_frame": 365, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 365, "end_frame": 513, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 513, "end_frame": 598, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up a blue bottled laundry detergent from the shelf and rotated its waist."}, {"start_frame": 598, "end_frame": 712, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}, {"start_frame": 712, "end_frame": 765, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the blue bottled laundry detergent from the first row of the shelf, rotate your waist, and place the bottle into the shopping cart."]}
{"task_id": "take_laundry_detergent_to_cart", "episode_index": 274, "video_path": "take_laundry_detergent_to_cart/videos/chunk-000/{video_key}/episode_000274.mp4", "tasks": ["Take laundry detergent to cart."], "length": 575, "action_config": [{"start_frame": 20, "end_frame": 168, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 168, "end_frame": 279, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 279, "end_frame": 395, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 395, "end_frame": 453, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up a blue bottled laundry detergent from the shelf and rotated its waist."}, {"start_frame": 453, "end_frame": 537, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}, {"start_frame": 537, "end_frame": 575, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the blue bottled laundry detergent from the first row of the shelf, rotate your waist, and place the bottle into the shopping cart."]}
{"task_id": "take_laundry_detergent_to_cart", "episode_index": 275, "video_path": "take_laundry_detergent_to_cart/videos/chunk-000/{video_key}/episode_000275.mp4", "tasks": ["Take laundry detergent to cart."], "length": 614, "action_config": [{"start_frame": 18, "end_frame": 197, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 197, "end_frame": 317, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 317, "end_frame": 438, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 438, "end_frame": 517, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up a blue bottled laundry detergent from the shelf and rotated its waist."}, {"start_frame": 517, "end_frame": 585, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}, {"start_frame": 585, "end_frame": 614, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the blue bottled laundry detergent from the first row of the shelf, rotate your waist, and place the bottle into the shopping cart."]}
{"task_id": "take_laundry_detergent_to_cart", "episode_index": 276, "video_path": "take_laundry_detergent_to_cart/videos/chunk-000/{video_key}/episode_000276.mp4", "tasks": ["Take laundry detergent to cart."], "length": 919, "action_config": [{"start_frame": 18, "end_frame": 234, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 234, "end_frame": 417, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 417, "end_frame": 567, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 567, "end_frame": 698, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up a blue bottled laundry detergent from the shelf and rotated its waist."}, {"start_frame": 698, "end_frame": 869, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}, {"start_frame": 869, "end_frame": 905, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the blue bottled laundry detergent from the first row of the shelf, rotate your waist, and place the bottle into the shopping cart."]}
{"task_id": "take_laundry_detergent_to_cart", "episode_index": 277, "video_path": "take_laundry_detergent_to_cart/videos/chunk-000/{video_key}/episode_000277.mp4", "tasks": ["Take laundry detergent to cart."], "length": 802, "action_config": [{"start_frame": 15, "end_frame": 250, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 250, "end_frame": 441, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 441, "end_frame": 573, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 573, "end_frame": 663, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up a blue bottled laundry detergent from the shelf and rotated its waist."}, {"start_frame": 663, "end_frame": 753, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}, {"start_frame": 753, "end_frame": 789, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the blue bottled laundry detergent from the first row of the shelf, rotate your waist, and place the bottle into the shopping cart."]}
{"task_id": "take_laundry_detergent_to_cart", "episode_index": 278, "video_path": "take_laundry_detergent_to_cart/videos/chunk-000/{video_key}/episode_000278.mp4", "tasks": ["Take laundry detergent to cart."], "length": 774, "action_config": [{"start_frame": 21, "end_frame": 191, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 191, "end_frame": 369, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 369, "end_frame": 508, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 508, "end_frame": 593, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up a blue bottled laundry detergent from the shelf and rotated its waist."}, {"start_frame": 593, "end_frame": 726, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}, {"start_frame": 726, "end_frame": 774, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the blue bottled laundry detergent from the first row of the shelf, rotate your waist, and place the bottle into the shopping cart."]}
{"task_id": "take_laundry_detergent_to_cart", "episode_index": 279, "video_path": "take_laundry_detergent_to_cart/videos/chunk-000/{video_key}/episode_000279.mp4", "tasks": ["Take laundry detergent to cart."], "length": 691, "action_config": [{"start_frame": 18, "end_frame": 183, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 183, "end_frame": 326, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 326, "end_frame": 441, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 441, "end_frame": 514, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up a blue bottled laundry detergent from the shelf and rotated its waist."}, {"start_frame": 514, "end_frame": 640, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}, {"start_frame": 640, "end_frame": 677, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the blue bottled laundry detergent from the first row of the shelf, rotate your waist, and place the bottle into the shopping cart."]}
{"task_id": "take_laundry_detergent_to_cart", "episode_index": 280, "video_path": "take_laundry_detergent_to_cart/videos/chunk-000/{video_key}/episode_000280.mp4", "tasks": ["Take laundry detergent to cart."], "length": 773, "action_config": [{"start_frame": 12, "end_frame": 231, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 231, "end_frame": 354, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 354, "end_frame": 472, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 472, "end_frame": 588, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up a blue bottled laundry detergent from the shelf and rotated its waist."}, {"start_frame": 588, "end_frame": 731, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}, {"start_frame": 731, "end_frame": 773, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the blue bottled laundry detergent from the first row of the shelf, rotate your waist, and place the bottle into the shopping cart."]}
{"task_id": "take_laundry_detergent_to_cart", "episode_index": 281, "video_path": "take_laundry_detergent_to_cart/videos/chunk-000/{video_key}/episode_000281.mp4", "tasks": ["Take laundry detergent to cart."], "length": 721, "action_config": [{"start_frame": 15, "end_frame": 294, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 294, "end_frame": 418, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 418, "end_frame": 520, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 520, "end_frame": 584, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up a blue bottled laundry detergent from the shelf and rotated its waist."}, {"start_frame": 584, "end_frame": 684, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}, {"start_frame": 684, "end_frame": 714, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the blue bottled laundry detergent from the first row of the shelf, rotate your waist, and place the bottle into the shopping cart."]}
{"task_id": "take_laundry_detergent_to_cart", "episode_index": 282, "video_path": "take_laundry_detergent_to_cart/videos/chunk-000/{video_key}/episode_000282.mp4", "tasks": ["Take laundry detergent to cart."], "length": 681, "action_config": [{"start_frame": 24, "end_frame": 181, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 181, "end_frame": 306, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 306, "end_frame": 447, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 447, "end_frame": 512, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up a blue bottled laundry detergent from the shelf and rotated its waist."}, {"start_frame": 512, "end_frame": 612, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}, {"start_frame": 612, "end_frame": 657, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the blue bottled laundry detergent from the first row of the shelf, rotate your waist, and place the bottle into the shopping cart."]}
{"task_id": "take_laundry_detergent_to_cart", "episode_index": 283, "video_path": "take_laundry_detergent_to_cart/videos/chunk-000/{video_key}/episode_000283.mp4", "tasks": ["Take laundry detergent to cart."], "length": 851, "action_config": [{"start_frame": 27, "end_frame": 252, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 252, "end_frame": 417, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 417, "end_frame": 561, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 561, "end_frame": 653, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up a blue bottled laundry detergent from the shelf and rotated its waist."}, {"start_frame": 653, "end_frame": 780, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}, {"start_frame": 780, "end_frame": 830, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the blue bottled laundry detergent from the first row of the shelf, rotate your waist, and place the bottle into the shopping cart."]}
{"task_id": "take_laundry_detergent_to_cart", "episode_index": 284, "video_path": "take_laundry_detergent_to_cart/videos/chunk-000/{video_key}/episode_000284.mp4", "tasks": ["Take laundry detergent to cart."], "length": 810, "action_config": [{"start_frame": 0, "end_frame": 201, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 201, "end_frame": 393, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 393, "end_frame": 538, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 538, "end_frame": 618, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up a blue bottled laundry detergent from the shelf and rotated its waist."}, {"start_frame": 618, "end_frame": 759, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}, {"start_frame": 759, "end_frame": 795, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the blue bottled laundry detergent from the first row of the shelf, rotate your waist, and place the bottle into the shopping cart."]}
{"task_id": "take_laundry_detergent_to_cart", "episode_index": 285, "video_path": "take_laundry_detergent_to_cart/videos/chunk-000/{video_key}/episode_000285.mp4", "tasks": ["Take laundry detergent to cart."], "length": 710, "action_config": [{"start_frame": 18, "end_frame": 177, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 177, "end_frame": 366, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 366, "end_frame": 482, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 482, "end_frame": 548, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up a blue bottled laundry detergent from the shelf and rotated its waist."}, {"start_frame": 548, "end_frame": 651, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}, {"start_frame": 651, "end_frame": 693, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the blue bottled laundry detergent from the first row of the shelf, rotate your waist, and place the bottle into the shopping cart."]}
{"task_id": "take_laundry_detergent_to_cart", "episode_index": 286, "video_path": "take_laundry_detergent_to_cart/videos/chunk-000/{video_key}/episode_000286.mp4", "tasks": ["Take laundry detergent to cart."], "length": 721, "action_config": [{"start_frame": 15, "end_frame": 192, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 192, "end_frame": 340, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 340, "end_frame": 456, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 456, "end_frame": 559, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up a blue bottled laundry detergent from the shelf and rotated its waist."}, {"start_frame": 559, "end_frame": 683, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}, {"start_frame": 683, "end_frame": 721, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the blue bottled laundry detergent from the first row of the shelf, rotate your waist, and place the bottle into the shopping cart."]}
{"task_id": "take_laundry_detergent_to_cart", "episode_index": 287, "video_path": "take_laundry_detergent_to_cart/videos/chunk-000/{video_key}/episode_000287.mp4", "tasks": ["Take laundry detergent to cart."], "length": 846, "action_config": [{"start_frame": 12, "end_frame": 209, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 209, "end_frame": 426, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 426, "end_frame": 567, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 567, "end_frame": 722, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up a blue bottled laundry detergent from the shelf and rotated its waist."}, {"start_frame": 722, "end_frame": 811, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}, {"start_frame": 811, "end_frame": 846, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the blue bottled laundry detergent from the first row of the shelf, rotate your waist, and place the bottle into the shopping cart."]}
{"task_id": "take_laundry_detergent_to_cart", "episode_index": 288, "video_path": "take_laundry_detergent_to_cart/videos/chunk-000/{video_key}/episode_000288.mp4", "tasks": ["Take laundry detergent to cart."], "length": 715, "action_config": [{"start_frame": 15, "end_frame": 252, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 252, "end_frame": 398, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 398, "end_frame": 521, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 521, "end_frame": 597, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up a blue bottled laundry detergent from the shelf and rotated its waist."}, {"start_frame": 597, "end_frame": 673, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}, {"start_frame": 673, "end_frame": 715, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the blue bottled laundry detergent from the first row of the shelf, rotate your waist, and place the bottle into the shopping cart."]}
{"task_id": "take_laundry_detergent_to_cart", "episode_index": 289, "video_path": "take_laundry_detergent_to_cart/videos/chunk-000/{video_key}/episode_000289.mp4", "tasks": ["Take laundry detergent to cart."], "length": 584, "action_config": [{"start_frame": 12, "end_frame": 153, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 153, "end_frame": 249, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 249, "end_frame": 375, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 375, "end_frame": 438, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up a blue bottled laundry detergent from the shelf and rotated its waist."}, {"start_frame": 438, "end_frame": 537, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}, {"start_frame": 537, "end_frame": 568, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the blue bottled laundry detergent from the first row of the shelf, rotate your waist, and place the bottle into the shopping cart."]}
{"task_id": "take_laundry_detergent_to_cart", "episode_index": 290, "video_path": "take_laundry_detergent_to_cart/videos/chunk-000/{video_key}/episode_000290.mp4", "tasks": ["Take laundry detergent to cart."], "length": 740, "action_config": [{"start_frame": 10, "end_frame": 179, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 179, "end_frame": 307, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 307, "end_frame": 422, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 422, "end_frame": 501, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up a blue bottled laundry detergent from the shelf and rotated its waist."}, {"start_frame": 501, "end_frame": 668, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}, {"start_frame": 668, "end_frame": 707, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the blue bottled laundry detergent from the first row of the shelf, rotate your waist, and place the bottle into the shopping cart."]}
{"task_id": "take_laundry_detergent_to_cart", "episode_index": 291, "video_path": "take_laundry_detergent_to_cart/videos/chunk-000/{video_key}/episode_000291.mp4", "tasks": ["Take laundry detergent to cart."], "length": 644, "action_config": [{"start_frame": 20, "end_frame": 190, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 190, "end_frame": 311, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 311, "end_frame": 435, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 435, "end_frame": 497, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up a blue bottled laundry detergent from the shelf and rotated its waist."}, {"start_frame": 497, "end_frame": 609, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}, {"start_frame": 609, "end_frame": 644, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the blue bottled laundry detergent from the first row of the shelf, rotate your waist, and place the bottle into the shopping cart."]}
{"task_id": "take_laundry_detergent_to_cart", "episode_index": 292, "video_path": "take_laundry_detergent_to_cart/videos/chunk-000/{video_key}/episode_000292.mp4", "tasks": ["Take laundry detergent to cart."], "length": 693, "action_config": [{"start_frame": 26, "end_frame": 224, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 224, "end_frame": 360, "action_text": "pick up the blue bottled laundry detergent from the first row of the shelf", "skill": "Pick", "language_memory": "The robot has picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 360, "end_frame": 467, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the first row of the shelf."}, {"start_frame": 467, "end_frame": 540, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up a blue bottled laundry detergent from the shelf and rotated its waist."}, {"start_frame": 540, "end_frame": 647, "action_text": "place the blue bottled laundry detergent into the shopping cart", "skill": "Place", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}, {"start_frame": 647, "end_frame": 681, "action_text": "rotate the waist", "skill": "Rotate", "language_memory": "The robot picked up the blue bottled laundry detergent from the shelf and placed it into the shopping cart."}], "detailed_task_instruction": ["Pick up the blue bottled laundry detergent from the first row of the shelf, rotate your waist, and place the bottle into the shopping cart."]}
{"task_id": "tidy_up_food_in_freezer", "episode_index": 0, "video_path": "tidy_up_food_in_freezer/videos/chunk-000/{video_key}/episode_000000.mp4", "tasks": ["Tidy up food in freezer."], "length": 1902, "index": 0, "action_config": [{"start_frame": 0, "end_frame": 354, "action_text": "open the freezer door", "skill": "Open", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 354, "end_frame": 879, "action_text": "place the white packaged goods", "skill": "Strike", "language_memory": "The freezer door has been opened."}, {"start_frame": 879, "end_frame": 1448, "action_text": "move to the yellow packaged goods", "skill": "Navigate", "language_memory": "The robot has opened the freezer door and placed the white packaged goods inside."}, {"start_frame": 1448, "end_frame": 1830, "action_text": "close the freezer door", "skill": "Close", "language_memory": "The robot opened the freezer door, placed white packaged goods inside, and moved toward the yellow packaged goods."}], "detailed_task_instruction": ["Open the freezer door, then place the white packaged goods inside. Next, move the yellow packaged goods to their proper location within the freezer. Finally, close the freezer door to complete the tidying process."]}
{"task_id": "tidy_up_food_in_freezer", "episode_index": 1, "video_path": "tidy_up_food_in_freezer/videos/chunk-000/{video_key}/episode_000001.mp4", "tasks": ["Tidy up food in freezer."], "length": 1658, "index": 1902, "action_config": [{"start_frame": 24, "end_frame": 470, "action_text": "open the freezer door", "skill": "Open", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 470, "end_frame": 931, "action_text": "place the white packaged goods", "skill": "Strike", "language_memory": "The freezer door has been opened."}, {"start_frame": 931, "end_frame": 1242, "action_text": "move to the yellow packaged goods", "skill": "Navigate", "language_memory": "The robot has opened the freezer door and placed the white packaged goods inside."}, {"start_frame": 1242, "end_frame": 1599, "action_text": "close the freezer door", "skill": "Close", "language_memory": "The robot opened the freezer door, placed white packaged goods inside, and moved toward the yellow packaged goods."}], "detailed_task_instruction": ["Open the freezer door, then place the white packaged goods inside. Next, move the yellow packaged goods to their proper location within the freezer. Finally, close the freezer door to complete the tidying process."]}
{"task_id": "tidy_up_food_in_freezer", "episode_index": 2, "video_path": "tidy_up_food_in_freezer/videos/chunk-000/{video_key}/episode_000002.mp4", "tasks": ["Tidy up food in freezer."], "length": 1855, "index": 3560, "action_config": [{"start_frame": 36, "end_frame": 425, "action_text": "open the freezer door", "skill": "Open", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 425, "end_frame": 917, "action_text": "place the white packaged goods", "skill": "Strike", "language_memory": "The freezer door has been opened."}, {"start_frame": 917, "end_frame": 1377, "action_text": "move to the yellow packaged goods", "skill": "Navigate", "language_memory": "The robot has opened the freezer door and placed the white packaged goods inside."}, {"start_frame": 1377, "end_frame": 1827, "action_text": "close the freezer door", "skill": "Close", "language_memory": "The robot opened the freezer door, placed white packaged goods inside, and moved toward the yellow packaged goods."}], "detailed_task_instruction": ["Open the freezer door, then place the white packaged goods inside. Next, move the yellow packaged goods to their proper location within the freezer. Finally, close the freezer door to complete the tidying process."]}
{"task_id": "tidy_up_food_in_freezer", "episode_index": 3, "video_path": "tidy_up_food_in_freezer/videos/chunk-000/{video_key}/episode_000003.mp4", "tasks": ["Tidy up food in freezer."], "length": 1947, "index": 5415, "action_config": [{"start_frame": 21, "end_frame": 390, "action_text": "open the freezer door", "skill": "Open", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 390, "end_frame": 799, "action_text": "place the white packaged goods", "skill": "Strike", "language_memory": "The freezer door has been opened."}, {"start_frame": 799, "end_frame": 1482, "action_text": "move to the yellow packaged goods", "skill": "Navigate", "language_memory": "The robot has opened the freezer door and placed the white packaged goods inside."}, {"start_frame": 1482, "end_frame": 1923, "action_text": "close the freezer door", "skill": "Close", "language_memory": "The robot opened the freezer door, placed white packaged goods inside, and moved toward the yellow packaged goods."}], "detailed_task_instruction": ["Open the freezer door, then place the white packaged goods inside. Next, move the yellow packaged goods to their proper location within the freezer. Finally, close the freezer door to complete the tidying process."]}
{"task_id": "tidy_up_food_in_freezer", "episode_index": 4, "video_path": "tidy_up_food_in_freezer/videos/chunk-000/{video_key}/episode_000004.mp4", "tasks": ["Tidy up food in freezer."], "length": 1872, "index": 7362, "action_config": [{"start_frame": 30, "end_frame": 498, "action_text": "open the freezer door", "skill": "Open", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 498, "end_frame": 978, "action_text": "place the white packaged goods", "skill": "Strike", "language_memory": "The freezer door has been opened."}, {"start_frame": 978, "end_frame": 1494, "action_text": "move to the yellow packaged goods", "skill": "Navigate", "language_memory": "The robot has opened the freezer door and placed the white packaged goods inside."}, {"start_frame": 1494, "end_frame": 1839, "action_text": "close the freezer door", "skill": "Close", "language_memory": "The robot opened the freezer door, placed white packaged goods inside, and moved toward the yellow packaged goods."}], "detailed_task_instruction": ["Open the freezer door, then place the white packaged goods inside. Next, move the yellow packaged goods to their proper location within the freezer. Finally, close the freezer door to complete the tidying process."]}
{"task_id": "tidy_up_food_in_freezer", "episode_index": 5, "video_path": "tidy_up_food_in_freezer/videos/chunk-000/{video_key}/episode_000005.mp4", "tasks": ["Tidy up food in freezer."], "length": 1930, "index": 9234, "action_config": [{"start_frame": 39, "end_frame": 621, "action_text": "open the freezer door", "skill": "Open", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 621, "end_frame": 1054, "action_text": "place the white packaged goods", "skill": "Strike", "language_memory": "The freezer door has been opened."}, {"start_frame": 1054, "end_frame": 1461, "action_text": "move to the yellow packaged goods", "skill": "Navigate", "language_memory": "The robot has opened the freezer door and placed the white packaged goods inside."}, {"start_frame": 1461, "end_frame": 1872, "action_text": "close the freezer door", "skill": "Close", "language_memory": "The robot opened the freezer door, placed white packaged goods inside, and moved toward the yellow packaged goods."}], "detailed_task_instruction": ["Open the freezer door, then place the white packaged goods inside. Next, move the yellow packaged goods to their proper location within the freezer. Finally, close the freezer door to complete the tidying process."]}
{"task_id": "tidy_up_food_in_freezer", "episode_index": 6, "video_path": "tidy_up_food_in_freezer/videos/chunk-000/{video_key}/episode_000006.mp4", "tasks": ["Tidy up food in freezer."], "length": 2209, "index": 11164, "action_config": [{"start_frame": 21, "end_frame": 527, "action_text": "open the freezer door", "skill": "Open", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 527, "end_frame": 1130, "action_text": "place the white packaged goods", "skill": "Strike", "language_memory": "The freezer door has been opened."}, {"start_frame": 1130, "end_frame": 1784, "action_text": "move to the yellow packaged goods", "skill": "Navigate", "language_memory": "The robot has opened the freezer door and placed the white packaged goods inside."}, {"start_frame": 1784, "end_frame": 2192, "action_text": "close the freezer door", "skill": "Close", "language_memory": "The robot opened the freezer door, placed white packaged goods inside, and moved toward the yellow packaged goods."}], "detailed_task_instruction": ["Open the freezer door, then place the white packaged goods inside. Next, move the yellow packaged goods to their proper location within the freezer. Finally, close the freezer door to complete the tidying process."]}
{"task_id": "tidy_up_food_in_freezer", "episode_index": 7, "video_path": "tidy_up_food_in_freezer/videos/chunk-000/{video_key}/episode_000007.mp4", "tasks": ["Tidy up food in freezer."], "length": 1401, "index": 13373, "action_config": [{"start_frame": 15, "end_frame": 281, "action_text": "open the freezer door", "skill": "Open", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 281, "end_frame": 522, "action_text": "place the white packaged goods", "skill": "Strike", "language_memory": "The freezer door has been opened."}, {"start_frame": 522, "end_frame": 989, "action_text": "move to the yellow packaged goods", "skill": "Navigate", "language_memory": "The robot has opened the freezer door and placed the white packaged goods inside."}, {"start_frame": 989, "end_frame": 1362, "action_text": "close the freezer door", "skill": "Close", "language_memory": "The robot opened the freezer door, placed white packaged goods inside, and moved toward the yellow packaged goods."}], "detailed_task_instruction": ["Open the freezer door, then place the white packaged goods inside. Next, move the yellow packaged goods to their proper location within the freezer. Finally, close the freezer door to complete the tidying process."]}
{"task_id": "tidy_up_food_in_freezer", "episode_index": 8, "video_path": "tidy_up_food_in_freezer/videos/chunk-000/{video_key}/episode_000008.mp4", "tasks": ["Tidy up food in freezer."], "length": 1654, "index": 14774, "action_config": [{"start_frame": 41, "end_frame": 473, "action_text": "open the freezer door", "skill": "Open", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 473, "end_frame": 906, "action_text": "place the white packaged goods", "skill": "Strike", "language_memory": "The freezer door has been opened."}, {"start_frame": 906, "end_frame": 1263, "action_text": "move to the yellow packaged goods", "skill": "Navigate", "language_memory": "The robot has opened the freezer door and placed the white packaged goods inside."}, {"start_frame": 1263, "end_frame": 1591, "action_text": "close the freezer door", "skill": "Close", "language_memory": "The robot opened the freezer door, placed white packaged goods inside, and moved toward the yellow packaged goods."}], "detailed_task_instruction": ["Open the freezer door, then place the white packaged goods inside. Next, move the yellow packaged goods to their proper location within the freezer. Finally, close the freezer door to complete the tidying process."]}
{"task_id": "tidy_up_food_in_freezer", "episode_index": 9, "video_path": "tidy_up_food_in_freezer/videos/chunk-000/{video_key}/episode_000009.mp4", "tasks": ["Tidy up food in freezer."], "length": 1807, "index": 16428, "action_config": [{"start_frame": 23, "end_frame": 516, "action_text": "open the freezer door", "skill": "Open", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 516, "end_frame": 983, "action_text": "place the white packaged goods", "skill": "Strike", "language_memory": "The freezer door has been opened."}, {"start_frame": 983, "end_frame": 1297, "action_text": "move to the yellow packaged goods", "skill": "Navigate", "language_memory": "The robot has opened the freezer door and placed the white packaged goods inside."}, {"start_frame": 1297, "end_frame": 1770, "action_text": "close the freezer door", "skill": "Close", "language_memory": "The robot opened the freezer door, placed white packaged goods inside, and moved toward the yellow packaged goods."}], "detailed_task_instruction": ["Open the freezer door, then place the white packaged goods inside. Next, move the yellow packaged goods to their proper location within the freezer. Finally, close the freezer door to complete the tidying process."]}
{"task_id": "tidy_up_food_in_freezer", "episode_index": 10, "video_path": "tidy_up_food_in_freezer/videos/chunk-000/{video_key}/episode_000010.mp4", "tasks": ["Tidy up food in freezer."], "length": 1284, "index": 18235, "action_config": [{"start_frame": 26, "end_frame": 354, "action_text": "open the freezer door", "skill": "Open", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 354, "end_frame": 693, "action_text": "place the white packaged goods", "skill": "Strike", "language_memory": "The freezer door has been opened."}, {"start_frame": 693, "end_frame": 945, "action_text": "move to the yellow packaged goods", "skill": "Navigate", "language_memory": "The robot has opened the freezer door and placed the white packaged goods inside."}, {"start_frame": 945, "end_frame": 1241, "action_text": "close the freezer door", "skill": "Close", "language_memory": "The robot opened the freezer door, placed white packaged goods inside, and moved toward the yellow packaged goods."}], "detailed_task_instruction": ["Open the freezer door, then place the white packaged goods inside. Next, move the yellow packaged goods to their proper location within the freezer. Finally, close the freezer door to complete the tidying process."]}
{"task_id": "tidy_up_food_in_freezer", "episode_index": 11, "video_path": "tidy_up_food_in_freezer/videos/chunk-000/{video_key}/episode_000011.mp4", "tasks": ["Tidy up food in freezer."], "length": 1539, "index": 19519, "action_config": [{"start_frame": 33, "end_frame": 507, "action_text": "open the freezer door", "skill": "Open", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 507, "end_frame": 867, "action_text": "place the white packaged goods", "skill": "Strike", "language_memory": "The freezer door has been opened."}, {"start_frame": 867, "end_frame": 1106, "action_text": "move to the yellow packaged goods", "skill": "Navigate", "language_memory": "The robot has opened the freezer door and placed the white packaged goods inside."}, {"start_frame": 1106, "end_frame": 1485, "action_text": "close the freezer door", "skill": "Close", "language_memory": "The robot opened the freezer door, placed white packaged goods inside, and moved toward the yellow packaged goods."}], "detailed_task_instruction": ["Open the freezer door, then place the white packaged goods inside. Next, move the yellow packaged goods to their proper location within the freezer. Finally, close the freezer door to complete the tidying process."]}
{"task_id": "tidy_up_food_in_freezer", "episode_index": 12, "video_path": "tidy_up_food_in_freezer/videos/chunk-000/{video_key}/episode_000012.mp4", "tasks": ["Tidy up food in freezer."], "length": 2220, "index": 21058, "action_config": [{"start_frame": 158, "end_frame": 699, "action_text": "open the freezer door", "skill": "Open", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 699, "end_frame": 1140, "action_text": "place the white packaged goods", "skill": "Strike", "language_memory": "The freezer door has been opened."}, {"start_frame": 1140, "end_frame": 1737, "action_text": "move to the yellow packaged goods", "skill": "Navigate", "language_memory": "The robot has opened the freezer door and placed the white packaged goods inside."}, {"start_frame": 1737, "end_frame": 2192, "action_text": "close the freezer door", "skill": "Close", "language_memory": "The robot opened the freezer door, placed white packaged goods inside, and moved toward the yellow packaged goods."}], "detailed_task_instruction": ["Open the freezer door, then place the white packaged goods inside. Next, move the yellow packaged goods to their proper location within the freezer. Finally, close the freezer door to complete the tidying process."]}
{"task_id": "tidy_up_food_in_freezer", "episode_index": 13, "video_path": "tidy_up_food_in_freezer/videos/chunk-000/{video_key}/episode_000013.mp4", "tasks": ["Tidy up food in freezer."], "length": 1735, "index": 23278, "action_config": [{"start_frame": 33, "end_frame": 528, "action_text": "open the freezer door", "skill": "Open", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 528, "end_frame": 995, "action_text": "place the white packaged goods", "skill": "Strike", "language_memory": "The freezer door has been opened."}, {"start_frame": 995, "end_frame": 1343, "action_text": "move to the yellow packaged goods", "skill": "Navigate", "language_memory": "The robot has opened the freezer door and placed the white packaged goods inside."}, {"start_frame": 1343, "end_frame": 1661, "action_text": "close the freezer door", "skill": "Close", "language_memory": "The robot opened the freezer door, placed white packaged goods inside, and moved toward the yellow packaged goods."}], "detailed_task_instruction": ["Open the freezer door, then place the white packaged goods inside. Next, move the yellow packaged goods to their proper location within the freezer. Finally, close the freezer door to complete the tidying process."]}
{"task_id": "tidy_up_food_in_freezer", "episode_index": 14, "video_path": "tidy_up_food_in_freezer/videos/chunk-000/{video_key}/episode_000014.mp4", "tasks": ["Tidy up food in freezer."], "length": 2137, "index": 25013, "action_config": [{"start_frame": 33, "end_frame": 381, "action_text": "open the freezer door", "skill": "Open", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 381, "end_frame": 890, "action_text": "place the white packaged goods", "skill": "Strike", "language_memory": "The freezer door has been opened."}, {"start_frame": 890, "end_frame": 1536, "action_text": "move to the yellow packaged goods", "skill": "Navigate", "language_memory": "The robot has opened the freezer door and placed the white packaged goods inside."}, {"start_frame": 1536, "end_frame": 2073, "action_text": "close the freezer door", "skill": "Close", "language_memory": "The robot opened the freezer door, placed white packaged goods inside, and moved toward the yellow packaged goods."}], "detailed_task_instruction": ["Open the freezer door, then place the white packaged goods inside. Next, move the yellow packaged goods to their proper location within the freezer. Finally, close the freezer door to complete the tidying process."]}
{"task_id": "tidy_up_food_in_freezer", "episode_index": 15, "video_path": "tidy_up_food_in_freezer/videos/chunk-000/{video_key}/episode_000015.mp4", "tasks": ["Tidy up food in freezer."], "length": 1579, "index": 27150, "action_config": [{"start_frame": 23, "end_frame": 474, "action_text": "open the freezer door", "skill": "Open", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 474, "end_frame": 807, "action_text": "place the white packaged goods", "skill": "Strike", "language_memory": "The freezer door has been opened."}, {"start_frame": 807, "end_frame": 1061, "action_text": "move to the yellow packaged goods", "skill": "Navigate", "language_memory": "The robot has opened the freezer door and placed the white packaged goods inside."}, {"start_frame": 1061, "end_frame": 1536, "action_text": "close the freezer door", "skill": "Close", "language_memory": "The robot opened the freezer door, placed white packaged goods inside, and moved toward the yellow packaged goods."}], "detailed_task_instruction": ["Open the freezer door, then place the white packaged goods inside. Next, move the yellow packaged goods to their proper location within the freezer. Finally, close the freezer door to complete the tidying process."]}
{"task_id": "tidy_up_food_in_freezer", "episode_index": 16, "video_path": "tidy_up_food_in_freezer/videos/chunk-000/{video_key}/episode_000016.mp4", "tasks": ["Tidy up food in freezer."], "length": 1752, "index": 28729, "action_config": [{"start_frame": 15, "end_frame": 438, "action_text": "open the freezer door", "skill": "Open", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 438, "end_frame": 763, "action_text": "place the white packaged goods", "skill": "Strike", "language_memory": "The freezer door has been opened."}, {"start_frame": 763, "end_frame": 1335, "action_text": "move to the yellow packaged goods", "skill": "Navigate", "language_memory": "The robot has opened the freezer door and placed the white packaged goods inside."}, {"start_frame": 1335, "end_frame": 1728, "action_text": "close the freezer door", "skill": "Close", "language_memory": "The robot opened the freezer door, placed white packaged goods inside, and moved toward the yellow packaged goods."}], "detailed_task_instruction": ["Open the freezer door, then place the white packaged goods inside. Next, move the yellow packaged goods to their proper location within the freezer. Finally, close the freezer door to complete the tidying process."]}
{"task_id": "tidy_up_food_in_freezer", "episode_index": 17, "video_path": "tidy_up_food_in_freezer/videos/chunk-000/{video_key}/episode_000017.mp4", "tasks": ["Tidy up food in freezer."], "length": 1786, "index": 30481, "action_config": [{"start_frame": 24, "end_frame": 399, "action_text": "open the freezer door", "skill": "Open", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 399, "end_frame": 647, "action_text": "place the white packaged goods", "skill": "Strike", "language_memory": "The freezer door has been opened."}, {"start_frame": 647, "end_frame": 1164, "action_text": "move to the yellow packaged goods", "skill": "Navigate", "language_memory": "The robot has opened the freezer door and placed the white packaged goods inside."}, {"start_frame": 1164, "end_frame": 1739, "action_text": "close the freezer door", "skill": "Close", "language_memory": "The robot opened the freezer door, placed white packaged goods inside, and moved toward the yellow packaged goods."}], "detailed_task_instruction": ["Open the freezer door, then place the white packaged goods inside. Next, move the yellow packaged goods to their proper location within the freezer. Finally, close the freezer door to complete the tidying process."]}
{"task_id": "tidy_up_food_in_freezer", "episode_index": 18, "video_path": "tidy_up_food_in_freezer/videos/chunk-000/{video_key}/episode_000018.mp4", "tasks": ["Tidy up food in freezer."], "length": 1690, "index": 32267, "action_config": [{"start_frame": 27, "end_frame": 440, "action_text": "open the freezer door", "skill": "Open", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 440, "end_frame": 776, "action_text": "place the white packaged goods", "skill": "Strike", "language_memory": "The freezer door has been opened."}, {"start_frame": 776, "end_frame": 1213, "action_text": "move to the yellow packaged goods", "skill": "Navigate", "language_memory": "The robot has opened the freezer door and placed the white packaged goods inside."}, {"start_frame": 1213, "end_frame": 1611, "action_text": "close the freezer door", "skill": "Close", "language_memory": "The robot opened the freezer door, placed white packaged goods inside, and moved toward the yellow packaged goods."}], "detailed_task_instruction": ["Open the freezer door, then place the white packaged goods inside. Next, move the yellow packaged goods to their proper location within the freezer. Finally, close the freezer door to complete the tidying process."]}
{"task_id": "tidy_up_food_in_freezer", "episode_index": 19, "video_path": "tidy_up_food_in_freezer/videos/chunk-000/{video_key}/episode_000019.mp4", "tasks": ["Tidy up food in freezer."], "length": 1611, "index": 33957, "action_config": [{"start_frame": 15, "end_frame": 394, "action_text": "open the freezer door", "skill": "Open", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 394, "end_frame": 687, "action_text": "place the white packaged goods", "skill": "Strike", "language_memory": "The freezer door has been opened."}, {"start_frame": 687, "end_frame": 1125, "action_text": "move to the yellow packaged goods", "skill": "Navigate", "language_memory": "The robot has opened the freezer door and placed the white packaged goods inside."}, {"start_frame": 1125, "end_frame": 1571, "action_text": "close the freezer door", "skill": "Close", "language_memory": "The robot opened the freezer door, placed white packaged goods inside, and moved toward the yellow packaged goods."}], "detailed_task_instruction": ["Open the freezer door, then place the white packaged goods inside. Next, move the yellow packaged goods to their proper location within the freezer. Finally, close the freezer door to complete the tidying process."]}
{"task_id": "tidy_up_food_in_freezer", "episode_index": 20, "video_path": "tidy_up_food_in_freezer/videos/chunk-000/{video_key}/episode_000020.mp4", "tasks": ["Tidy up food in freezer."], "length": 1807, "index": 35568, "action_config": [{"start_frame": 24, "end_frame": 486, "action_text": "open the freezer door", "skill": "Open", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 486, "end_frame": 801, "action_text": "place the white packaged goods", "skill": "Strike", "language_memory": "The freezer door has been opened."}, {"start_frame": 801, "end_frame": 1301, "action_text": "move to the yellow packaged goods", "skill": "Navigate", "language_memory": "The robot has opened the freezer door and placed the white packaged goods inside."}, {"start_frame": 1301, "end_frame": 1758, "action_text": "close the freezer door", "skill": "Close", "language_memory": "The robot opened the freezer door, placed white packaged goods inside, and moved toward the yellow packaged goods."}], "detailed_task_instruction": ["Open the freezer door, then place the white packaged goods inside. Next, move the yellow packaged goods to their proper location within the freezer. Finally, close the freezer door to complete the tidying process."]}
{"task_id": "tidy_up_food_in_freezer", "episode_index": 21, "video_path": "tidy_up_food_in_freezer/videos/chunk-000/{video_key}/episode_000021.mp4", "tasks": ["Tidy up food in freezer."], "length": 1704, "index": 37375, "action_config": [{"start_frame": 18, "end_frame": 363, "action_text": "open the freezer door", "skill": "Open", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 363, "end_frame": 672, "action_text": "place the white packaged goods", "skill": "Strike", "language_memory": "The freezer door has been opened."}, {"start_frame": 672, "end_frame": 1181, "action_text": "move to the yellow packaged goods", "skill": "Navigate", "language_memory": "The robot has opened the freezer door and placed the white packaged goods inside."}, {"start_frame": 1181, "end_frame": 1662, "action_text": "close the freezer door", "skill": "Close", "language_memory": "The robot opened the freezer door, placed white packaged goods inside, and moved toward the yellow packaged goods."}], "detailed_task_instruction": ["Open the freezer door, then place the white packaged goods inside. Next, move the yellow packaged goods to their proper location within the freezer. Finally, close the freezer door to complete the tidying process."]}
{"task_id": "tidy_up_food_in_freezer", "episode_index": 22, "video_path": "tidy_up_food_in_freezer/videos/chunk-000/{video_key}/episode_000022.mp4", "tasks": ["Tidy up food in freezer."], "length": 1556, "index": 39079, "action_config": [{"start_frame": 24, "end_frame": 465, "action_text": "open the freezer door", "skill": "Open", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 465, "end_frame": 854, "action_text": "place the white packaged goods", "skill": "Strike", "language_memory": "The freezer door has been opened."}, {"start_frame": 854, "end_frame": 1164, "action_text": "move to the yellow packaged goods", "skill": "Navigate", "language_memory": "The robot has opened the freezer door and placed the white packaged goods inside."}, {"start_frame": 1164, "end_frame": 1488, "action_text": "close the freezer door", "skill": "Close", "language_memory": "The robot opened the freezer door, placed white packaged goods inside, and moved toward the yellow packaged goods."}], "detailed_task_instruction": ["Open the freezer door, then place the white packaged goods inside. Next, move the yellow packaged goods to their proper location within the freezer. Finally, close the freezer door to complete the tidying process."]}
{"task_id": "tidy_up_food_in_freezer", "episode_index": 23, "video_path": "tidy_up_food_in_freezer/videos/chunk-000/{video_key}/episode_000023.mp4", "tasks": ["Tidy up food in freezer."], "length": 1782, "index": 40635, "action_config": [{"start_frame": 15, "end_frame": 342, "action_text": "open the freezer door", "skill": "Open", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 342, "end_frame": 729, "action_text": "place the white packaged goods", "skill": "Strike", "language_memory": "The freezer door has been opened."}, {"start_frame": 729, "end_frame": 1329, "action_text": "move to the yellow packaged goods", "skill": "Navigate", "language_memory": "The robot has opened the freezer door and placed the white packaged goods inside."}, {"start_frame": 1329, "end_frame": 1735, "action_text": "close the freezer door", "skill": "Close", "language_memory": "The robot opened the freezer door, placed white packaged goods inside, and moved toward the yellow packaged goods."}], "detailed_task_instruction": ["Open the freezer door, then place the white packaged goods inside. Next, move the yellow packaged goods to their proper location within the freezer. Finally, close the freezer door to complete the tidying process."]}
{"task_id": "tidy_up_food_in_freezer", "episode_index": 24, "video_path": "tidy_up_food_in_freezer/videos/chunk-000/{video_key}/episode_000024.mp4", "tasks": ["Tidy up food in freezer."], "length": 1723, "index": 42417, "action_config": [{"start_frame": 27, "end_frame": 518, "action_text": "open the freezer door", "skill": "Open", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 518, "end_frame": 896, "action_text": "place the white packaged goods", "skill": "Strike", "language_memory": "The freezer door has been opened."}, {"start_frame": 896, "end_frame": 1245, "action_text": "move to the yellow packaged goods", "skill": "Navigate", "language_memory": "The robot has opened the freezer door and placed the white packaged goods inside."}, {"start_frame": 1245, "end_frame": 1661, "action_text": "close the freezer door", "skill": "Close", "language_memory": "The robot opened the freezer door, placed white packaged goods inside, and moved toward the yellow packaged goods."}], "detailed_task_instruction": ["Open the freezer door, then place the white packaged goods inside. Next, move the yellow packaged goods to their proper location within the freezer. Finally, close the freezer door to complete the tidying process."]}
{"task_id": "tidy_up_food_in_freezer", "episode_index": 25, "video_path": "tidy_up_food_in_freezer/videos/chunk-000/{video_key}/episode_000025.mp4", "tasks": ["Tidy up food in freezer."], "length": 1998, "index": 44140, "action_config": [{"start_frame": 53, "end_frame": 492, "action_text": "open the freezer door", "skill": "Open", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 492, "end_frame": 951, "action_text": "place the white packaged goods", "skill": "Strike", "language_memory": "The freezer door has been opened."}, {"start_frame": 951, "end_frame": 1511, "action_text": "move to the yellow packaged goods", "skill": "Navigate", "language_memory": "The robot has opened the freezer door and placed the white packaged goods inside."}, {"start_frame": 1511, "end_frame": 1953, "action_text": "close the freezer door", "skill": "Close", "language_memory": "The robot opened the freezer door, placed white packaged goods inside, and moved toward the yellow packaged goods."}], "detailed_task_instruction": ["Open the freezer door, then place the white packaged goods inside. Next, move the yellow packaged goods to their proper location within the freezer. Finally, close the freezer door to complete the tidying process."]}
{"task_id": "tidy_up_food_in_freezer", "episode_index": 26, "video_path": "tidy_up_food_in_freezer/videos/chunk-000/{video_key}/episode_000026.mp4", "tasks": ["Tidy up food in freezer."], "length": 2464, "index": 46138, "action_config": [{"start_frame": 57, "end_frame": 585, "action_text": "open the freezer door", "skill": "Open", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 585, "end_frame": 1201, "action_text": "place the white packaged goods", "skill": "Strike", "language_memory": "The freezer door has been opened."}, {"start_frame": 1201, "end_frame": 1962, "action_text": "move to the yellow packaged goods", "skill": "Navigate", "language_memory": "The robot has opened the freezer door and placed the white packaged goods inside."}, {"start_frame": 1962, "end_frame": 2427, "action_text": "close the freezer door", "skill": "Close", "language_memory": "The robot opened the freezer door, placed white packaged goods inside, and moved toward the yellow packaged goods."}], "detailed_task_instruction": ["Open the freezer door, then place the white packaged goods inside. Next, move the yellow packaged goods to their proper location within the freezer. Finally, close the freezer door to complete the tidying process."]}
{"task_id": "tidy_up_food_in_freezer", "episode_index": 27, "video_path": "tidy_up_food_in_freezer/videos/chunk-000/{video_key}/episode_000027.mp4", "tasks": ["Tidy up food in freezer."], "length": 2078, "index": 48602, "action_config": [{"start_frame": 51, "end_frame": 501, "action_text": "open the freezer door", "skill": "Open", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 501, "end_frame": 900, "action_text": "place the white packaged goods", "skill": "Strike", "language_memory": "The freezer door has been opened."}, {"start_frame": 900, "end_frame": 1524, "action_text": "move to the yellow packaged goods", "skill": "Navigate", "language_memory": "The robot has opened the freezer door and placed the white packaged goods inside."}, {"start_frame": 1524, "end_frame": 2027, "action_text": "close the freezer door", "skill": "Close", "language_memory": "The robot opened the freezer door, placed white packaged goods inside, and moved toward the yellow packaged goods."}], "detailed_task_instruction": ["Open the freezer door, then place the white packaged goods inside. Next, move the yellow packaged goods to their proper location within the freezer. Finally, close the freezer door to complete the tidying process."]}
{"task_id": "tidy_up_food_in_freezer", "episode_index": 28, "video_path": "tidy_up_food_in_freezer/videos/chunk-000/{video_key}/episode_000028.mp4", "tasks": ["Tidy up food in freezer."], "length": 2077, "index": 50680, "action_config": [{"start_frame": 21, "end_frame": 666, "action_text": "open the freezer door", "skill": "Open", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 666, "end_frame": 1184, "action_text": "place the white packaged goods", "skill": "Strike", "language_memory": "The freezer door has been opened."}, {"start_frame": 1184, "end_frame": 1596, "action_text": "move to the yellow packaged goods", "skill": "Navigate", "language_memory": "The robot has opened the freezer door and placed the white packaged goods inside."}, {"start_frame": 1596, "end_frame": 2034, "action_text": "close the freezer door", "skill": "Close", "language_memory": "The robot opened the freezer door, placed white packaged goods inside, and moved toward the yellow packaged goods."}], "detailed_task_instruction": ["Open the freezer door, then place the white packaged goods inside. Next, move the yellow packaged goods to their proper location within the freezer. Finally, close the freezer door to complete the tidying process."]}
{"task_id": "tidy_up_food_in_freezer", "episode_index": 29, "video_path": "tidy_up_food_in_freezer/videos/chunk-000/{video_key}/episode_000029.mp4", "tasks": ["Tidy up food in freezer."], "length": 1546, "index": 52757, "action_config": [{"start_frame": 30, "end_frame": 465, "action_text": "open the freezer door", "skill": "Open", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 465, "end_frame": 805, "action_text": "place the white packaged goods", "skill": "Strike", "language_memory": "The freezer door has been opened."}, {"start_frame": 805, "end_frame": 1107, "action_text": "move to the yellow packaged goods", "skill": "Navigate", "language_memory": "The robot has opened the freezer door and placed the white packaged goods inside."}, {"start_frame": 1107, "end_frame": 1487, "action_text": "close the freezer door", "skill": "Close", "language_memory": "The robot opened the freezer door, placed white packaged goods inside, and moved toward the yellow packaged goods."}], "detailed_task_instruction": ["Open the freezer door, then place the white packaged goods inside. Next, move the yellow packaged goods to their proper location within the freezer. Finally, close the freezer door to complete the tidying process."]}
{"task_id": "tidy_up_food_in_freezer", "episode_index": 30, "video_path": "tidy_up_food_in_freezer/videos/chunk-000/{video_key}/episode_000030.mp4", "tasks": ["Tidy up food in freezer."], "length": 1813, "index": 54303, "action_config": [{"start_frame": 0, "end_frame": 454, "action_text": "open the freezer door", "skill": "Open", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 454, "end_frame": 960, "action_text": "place the white packaged goods", "skill": "Strike", "language_memory": "The freezer door has been opened."}, {"start_frame": 960, "end_frame": 1320, "action_text": "move to the yellow packaged goods", "skill": "Navigate", "language_memory": "The robot has opened the freezer door and placed the white packaged goods inside."}, {"start_frame": 1320, "end_frame": 1779, "action_text": "close the freezer door", "skill": "Close", "language_memory": "The robot opened the freezer door, placed white packaged goods inside, and moved toward the yellow packaged goods."}], "detailed_task_instruction": ["Open the freezer door, then place the white packaged goods inside. Next, move the yellow packaged goods to their proper location within the freezer. Finally, close the freezer door to complete the tidying process."]}
{"task_id": "tidy_up_food_in_freezer", "episode_index": 31, "video_path": "tidy_up_food_in_freezer/videos/chunk-000/{video_key}/episode_000031.mp4", "tasks": ["Tidy up food in freezer."], "length": 1837, "index": 56116, "action_config": [{"start_frame": 0, "end_frame": 384, "action_text": "open the freezer door", "skill": "Open", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 384, "end_frame": 777, "action_text": "place the white packaged goods", "skill": "Strike", "language_memory": "The freezer door has been opened."}, {"start_frame": 777, "end_frame": 1416, "action_text": "move to the yellow packaged goods", "skill": "Navigate", "language_memory": "The robot has opened the freezer door and placed the white packaged goods inside."}, {"start_frame": 1416, "end_frame": 1757, "action_text": "close the freezer door", "skill": "Close", "language_memory": "The robot opened the freezer door, placed white packaged goods inside, and moved toward the yellow packaged goods."}], "detailed_task_instruction": ["Open the freezer door, then place the white packaged goods inside. Next, move the yellow packaged goods to their proper location within the freezer. Finally, close the freezer door to complete the tidying process."]}
{"task_id": "tidy_up_food_in_freezer", "episode_index": 32, "video_path": "tidy_up_food_in_freezer/videos/chunk-000/{video_key}/episode_000032.mp4", "tasks": ["Tidy up food in freezer."], "length": 1834, "index": 57953, "action_config": [{"start_frame": 0, "end_frame": 351, "action_text": "open the freezer door", "skill": "Open", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 351, "end_frame": 732, "action_text": "place the white packaged goods", "skill": "Strike", "language_memory": "The freezer door has been opened."}, {"start_frame": 732, "end_frame": 1349, "action_text": "move to the yellow packaged goods", "skill": "Navigate", "language_memory": "The robot has opened the freezer door and placed the white packaged goods inside."}, {"start_frame": 1349, "end_frame": 1709, "action_text": "close the freezer door", "skill": "Close", "language_memory": "The robot opened the freezer door, placed white packaged goods inside, and moved toward the yellow packaged goods."}], "detailed_task_instruction": ["Open the freezer door, then place the white packaged goods inside. Next, move the yellow packaged goods to their proper location within the freezer. Finally, close the freezer door to complete the tidying process."]}
{"task_id": "tidy_up_food_in_freezer", "episode_index": 33, "video_path": "tidy_up_food_in_freezer/videos/chunk-000/{video_key}/episode_000033.mp4", "tasks": ["Tidy up food in freezer."], "length": 1634, "index": 59787, "action_config": [{"start_frame": 0, "end_frame": 383, "action_text": "open the freezer door", "skill": "Open", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 383, "end_frame": 773, "action_text": "place the white packaged goods", "skill": "Strike", "language_memory": "The freezer door has been opened."}, {"start_frame": 773, "end_frame": 1157, "action_text": "move to the yellow packaged goods", "skill": "Navigate", "language_memory": "The robot has opened the freezer door and placed the white packaged goods inside."}, {"start_frame": 1157, "end_frame": 1524, "action_text": "close the freezer door", "skill": "Close", "language_memory": "The robot opened the freezer door, placed white packaged goods inside, and moved toward the yellow packaged goods."}], "detailed_task_instruction": ["Open the freezer door, then place the white packaged goods inside. Next, move the yellow packaged goods to their proper location within the freezer. Finally, close the freezer door to complete the tidying process."]}
{"task_id": "tidy_up_food_in_freezer", "episode_index": 34, "video_path": "tidy_up_food_in_freezer/videos/chunk-000/{video_key}/episode_000034.mp4", "tasks": ["Tidy up food in freezer."], "length": 1762, "index": 61421, "action_config": [{"start_frame": 0, "end_frame": 477, "action_text": "open the freezer door", "skill": "Open", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 477, "end_frame": 950, "action_text": "place the white packaged goods", "skill": "Strike", "language_memory": "The freezer door has been opened."}, {"start_frame": 950, "end_frame": 1355, "action_text": "move to the yellow packaged goods", "skill": "Navigate", "language_memory": "The robot has opened the freezer door and placed the white packaged goods inside."}, {"start_frame": 1355, "end_frame": 1724, "action_text": "close the freezer door", "skill": "Close", "language_memory": "The robot opened the freezer door, placed white packaged goods inside, and moved toward the yellow packaged goods."}], "detailed_task_instruction": ["Open the freezer door, then place the white packaged goods inside. Next, move the yellow packaged goods to their proper location within the freezer. Finally, close the freezer door to complete the tidying process."]}
{"task_id": "tidy_up_food_in_freezer", "episode_index": 35, "video_path": "tidy_up_food_in_freezer/videos/chunk-000/{video_key}/episode_000035.mp4", "tasks": ["Tidy up food in freezer."], "length": 2103, "index": 63183, "action_config": [{"start_frame": 0, "end_frame": 507, "action_text": "open the freezer door", "skill": "Open", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 507, "end_frame": 1008, "action_text": "place the white packaged goods", "skill": "Strike", "language_memory": "The freezer door has been opened."}, {"start_frame": 1008, "end_frame": 1596, "action_text": "move to the yellow packaged goods", "skill": "Navigate", "language_memory": "The robot has opened the freezer door and placed the white packaged goods inside."}, {"start_frame": 1596, "end_frame": 2085, "action_text": "close the freezer door", "skill": "Close", "language_memory": "The robot opened the freezer door, placed white packaged goods inside, and moved toward the yellow packaged goods."}], "detailed_task_instruction": ["Open the freezer door, then place the white packaged goods inside. Next, move the yellow packaged goods to their proper location within the freezer. Finally, close the freezer door to complete the tidying process."]}
{"task_id": "tidy_up_food_in_freezer", "episode_index": 36, "video_path": "tidy_up_food_in_freezer/videos/chunk-000/{video_key}/episode_000036.mp4", "tasks": ["Tidy up food in freezer."], "length": 1720, "index": 65286, "action_config": [{"start_frame": 0, "end_frame": 345, "action_text": "open the freezer door", "skill": "Open", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 345, "end_frame": 669, "action_text": "place the white packaged goods", "skill": "Strike", "language_memory": "The freezer door has been opened."}, {"start_frame": 669, "end_frame": 1208, "action_text": "move to the yellow packaged goods", "skill": "Navigate", "language_memory": "The robot has opened the freezer door and placed the white packaged goods inside."}, {"start_frame": 1208, "end_frame": 1638, "action_text": "close the freezer door", "skill": "Close", "language_memory": "The robot opened the freezer door, placed white packaged goods inside, and moved toward the yellow packaged goods."}], "detailed_task_instruction": ["Open the freezer door, then place the white packaged goods inside. Next, move the yellow packaged goods to their proper location within the freezer. Finally, close the freezer door to complete the tidying process."]}
{"task_id": "tidy_up_food_in_freezer", "episode_index": 37, "video_path": "tidy_up_food_in_freezer/videos/chunk-000/{video_key}/episode_000037.mp4", "tasks": ["Tidy up food in freezer."], "length": 2059, "index": 67006, "action_config": [{"start_frame": 0, "end_frame": 425, "action_text": "open the freezer door", "skill": "Open", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 425, "end_frame": 837, "action_text": "place the white packaged goods", "skill": "Strike", "language_memory": "The freezer door has been opened."}, {"start_frame": 837, "end_frame": 1446, "action_text": "move to the yellow packaged goods", "skill": "Navigate", "language_memory": "The robot has opened the freezer door and placed the white packaged goods inside."}, {"start_frame": 1446, "end_frame": 2045, "action_text": "close the freezer door", "skill": "Close", "language_memory": "The robot opened the freezer door, placed white packaged goods inside, and moved toward the yellow packaged goods."}], "detailed_task_instruction": ["Open the freezer door, then place the white packaged goods inside. Next, move the yellow packaged goods to their proper location within the freezer. Finally, close the freezer door to complete the tidying process."]}
{"task_id": "tidy_up_food_in_freezer", "episode_index": 38, "video_path": "tidy_up_food_in_freezer/videos/chunk-000/{video_key}/episode_000038.mp4", "tasks": ["Tidy up food in freezer."], "length": 2785, "index": 69065, "action_config": [{"start_frame": 0, "end_frame": 660, "action_text": "open the freezer door", "skill": "Open", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 660, "end_frame": 1404, "action_text": "place the white packaged goods", "skill": "Strike", "language_memory": "The freezer door has been opened."}, {"start_frame": 1404, "end_frame": 2217, "action_text": "move to the yellow packaged goods", "skill": "Navigate", "language_memory": "The robot has opened the freezer door and placed the white packaged goods inside."}, {"start_frame": 2217, "end_frame": 2766, "action_text": "close the freezer door", "skill": "Close", "language_memory": "The robot opened the freezer door, placed white packaged goods inside, and moved toward the yellow packaged goods."}], "detailed_task_instruction": ["Open the freezer door, then place the white packaged goods inside. Next, move the yellow packaged goods to their proper location within the freezer. Finally, close the freezer door to complete the tidying process."]}
{"task_id": "tidy_up_food_in_freezer", "episode_index": 39, "video_path": "tidy_up_food_in_freezer/videos/chunk-000/{video_key}/episode_000039.mp4", "tasks": ["Tidy up food in freezer."], "length": 1743, "index": 71850, "action_config": [{"start_frame": 0, "end_frame": 446, "action_text": "open the freezer door", "skill": "Open", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 446, "end_frame": 816, "action_text": "place the white packaged goods", "skill": "Strike", "language_memory": "The freezer door has been opened."}, {"start_frame": 816, "end_frame": 1263, "action_text": "move to the yellow packaged goods", "skill": "Navigate", "language_memory": "The robot has opened the freezer door and placed the white packaged goods inside."}, {"start_frame": 1263, "end_frame": 1641, "action_text": "close the freezer door", "skill": "Close", "language_memory": "The robot opened the freezer door, placed white packaged goods inside, and moved toward the yellow packaged goods."}], "detailed_task_instruction": ["Open the freezer door, then place the white packaged goods inside. Next, move the yellow packaged goods to their proper location within the freezer. Finally, close the freezer door to complete the tidying process."]}
{"task_id": "tidy_up_food_in_freezer", "episode_index": 40, "video_path": "tidy_up_food_in_freezer/videos/chunk-000/{video_key}/episode_000040.mp4", "tasks": ["Tidy up food in freezer."], "length": 1935, "index": 73593, "action_config": [{"start_frame": 0, "end_frame": 484, "action_text": "open the freezer door", "skill": "Open", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 484, "end_frame": 831, "action_text": "place the white packaged goods", "skill": "Strike", "language_memory": "The freezer door has been opened."}, {"start_frame": 831, "end_frame": 1433, "action_text": "move to the yellow packaged goods", "skill": "Navigate", "language_memory": "The robot has opened the freezer door and placed the white packaged goods inside."}, {"start_frame": 1433, "end_frame": 1845, "action_text": "close the freezer door", "skill": "Close", "language_memory": "The robot opened the freezer door, placed white packaged goods inside, and moved toward the yellow packaged goods."}], "detailed_task_instruction": ["Open the freezer door, then place the white packaged goods inside. Next, move the yellow packaged goods to their proper location within the freezer. Finally, close the freezer door to complete the tidying process."]}
{"task_id": "tidy_up_food_in_freezer", "episode_index": 41, "video_path": "tidy_up_food_in_freezer/videos/chunk-000/{video_key}/episode_000041.mp4", "tasks": ["Tidy up food in freezer."], "length": 2088, "index": 75528, "action_config": [{"start_frame": 0, "end_frame": 473, "action_text": "open the freezer door", "skill": "Open", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 473, "end_frame": 1001, "action_text": "place the white packaged goods", "skill": "Strike", "language_memory": "The freezer door has been opened."}, {"start_frame": 1001, "end_frame": 1539, "action_text": "move to the yellow packaged goods", "skill": "Navigate", "language_memory": "The robot has opened the freezer door and placed the white packaged goods inside."}, {"start_frame": 1539, "end_frame": 2007, "action_text": "close the freezer door", "skill": "Close", "language_memory": "The robot opened the freezer door, placed white packaged goods inside, and moved toward the yellow packaged goods."}], "detailed_task_instruction": ["Open the freezer door, then place the white packaged goods inside. Next, move the yellow packaged goods to their proper location within the freezer. Finally, close the freezer door to complete the tidying process."]}
{"task_id": "tidy_up_food_in_freezer", "episode_index": 42, "video_path": "tidy_up_food_in_freezer/videos/chunk-000/{video_key}/episode_000042.mp4", "tasks": ["Tidy up food in freezer."], "length": 1777, "index": 77616, "action_config": [{"start_frame": 0, "end_frame": 426, "action_text": "open the freezer door", "skill": "Open", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 426, "end_frame": 794, "action_text": "place the white packaged goods", "skill": "Strike", "language_memory": "The freezer door has been opened."}, {"start_frame": 794, "end_frame": 1272, "action_text": "move to the yellow packaged goods", "skill": "Navigate", "language_memory": "The robot has opened the freezer door and placed the white packaged goods inside."}, {"start_frame": 1272, "end_frame": 1761, "action_text": "close the freezer door", "skill": "Close", "language_memory": "The robot opened the freezer door, placed white packaged goods inside, and moved toward the yellow packaged goods."}], "detailed_task_instruction": ["Open the freezer door, then place the white packaged goods inside. Next, move the yellow packaged goods to their proper location within the freezer. Finally, close the freezer door to complete the tidying process."]}
{"task_id": "tidy_up_food_in_freezer", "episode_index": 43, "video_path": "tidy_up_food_in_freezer/videos/chunk-000/{video_key}/episode_000043.mp4", "tasks": ["Tidy up food in freezer."], "length": 1611, "index": 79393, "action_config": [{"start_frame": 29, "end_frame": 333, "action_text": "open the freezer door", "skill": "Open", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 333, "end_frame": 699, "action_text": "place the white packaged goods", "skill": "Strike", "language_memory": "The freezer door has been opened."}, {"start_frame": 699, "end_frame": 1205, "action_text": "move to the yellow packaged goods", "skill": "Navigate", "language_memory": "The robot has opened the freezer door and placed the white packaged goods inside."}, {"start_frame": 1205, "end_frame": 1569, "action_text": "close the freezer door", "skill": "Close", "language_memory": "The robot opened the freezer door, placed white packaged goods inside, and moved toward the yellow packaged goods."}], "detailed_task_instruction": ["Open the freezer door, then place the white packaged goods inside. Next, move the yellow packaged goods to their proper location within the freezer. Finally, close the freezer door to complete the tidying process."]}
{"task_id": "tidy_up_food_in_freezer", "episode_index": 44, "video_path": "tidy_up_food_in_freezer/videos/chunk-000/{video_key}/episode_000044.mp4", "tasks": ["Tidy up food in freezer."], "length": 1717, "index": 81004, "action_config": [{"start_frame": 48, "end_frame": 512, "action_text": "open the freezer door", "skill": "Open", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 512, "end_frame": 906, "action_text": "place the white packaged goods", "skill": "Strike", "language_memory": "The freezer door has been opened."}, {"start_frame": 906, "end_frame": 1288, "action_text": "move to the yellow packaged goods", "skill": "Navigate", "language_memory": "The robot has opened the freezer door and placed the white packaged goods inside."}, {"start_frame": 1288, "end_frame": 1717, "action_text": "close the freezer door", "skill": "Close", "language_memory": "The robot opened the freezer door, placed white packaged goods inside, and moved toward the yellow packaged goods."}], "detailed_task_instruction": ["Open the freezer door, then place the white packaged goods inside. Next, move the yellow packaged goods to their proper location within the freezer. Finally, close the freezer door to complete the tidying process."]}
{"task_id": "tidy_up_food_in_freezer", "episode_index": 45, "video_path": "tidy_up_food_in_freezer/videos/chunk-000/{video_key}/episode_000045.mp4", "tasks": ["Tidy up food in freezer."], "length": 1618, "index": 82721, "action_config": [{"start_frame": 26, "end_frame": 354, "action_text": "open the freezer door", "skill": "Open", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 354, "end_frame": 708, "action_text": "place the white packaged goods", "skill": "Strike", "language_memory": "The freezer door has been opened."}, {"start_frame": 708, "end_frame": 1188, "action_text": "move to the yellow packaged goods", "skill": "Navigate", "language_memory": "The robot has opened the freezer door and placed the white packaged goods inside."}, {"start_frame": 1188, "end_frame": 1590, "action_text": "close the freezer door", "skill": "Close", "language_memory": "The robot opened the freezer door, placed white packaged goods inside, and moved toward the yellow packaged goods."}], "detailed_task_instruction": ["Open the freezer door, then place the white packaged goods inside. Next, move the yellow packaged goods to their proper location within the freezer. Finally, close the freezer door to complete the tidying process."]}
{"task_id": "tidy_up_food_in_freezer", "episode_index": 46, "video_path": "tidy_up_food_in_freezer/videos/chunk-000/{video_key}/episode_000046.mp4", "tasks": ["Tidy up food in freezer."], "length": 1553, "index": 84339, "action_config": [{"start_frame": 0, "end_frame": 402, "action_text": "open the freezer door", "skill": "Open", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 402, "end_frame": 669, "action_text": "place the white packaged goods", "skill": "Strike", "language_memory": "The freezer door has been opened."}, {"start_frame": 669, "end_frame": 1098, "action_text": "move to the yellow packaged goods", "skill": "Navigate", "language_memory": "The robot has opened the freezer door and placed the white packaged goods inside."}, {"start_frame": 1098, "end_frame": 1510, "action_text": "close the freezer door", "skill": "Close", "language_memory": "The robot opened the freezer door, placed white packaged goods inside, and moved toward the yellow packaged goods."}], "detailed_task_instruction": ["Open the freezer door, then place the white packaged goods inside. Next, move the yellow packaged goods to their proper location within the freezer. Finally, close the freezer door to complete the tidying process."]}
{"task_id": "tidy_up_food_in_freezer", "episode_index": 47, "video_path": "tidy_up_food_in_freezer/videos/chunk-000/{video_key}/episode_000047.mp4", "tasks": ["Tidy up food in freezer."], "length": 2002, "index": 85892, "action_config": [{"start_frame": 0, "end_frame": 480, "action_text": "open the freezer door", "skill": "Open", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 480, "end_frame": 920, "action_text": "place the white packaged goods", "skill": "Strike", "language_memory": "The freezer door has been opened."}, {"start_frame": 920, "end_frame": 1491, "action_text": "move to the yellow packaged goods", "skill": "Navigate", "language_memory": "The robot has opened the freezer door and placed the white packaged goods inside."}, {"start_frame": 1491, "end_frame": 1866, "action_text": "close the freezer door", "skill": "Close", "language_memory": "The robot opened the freezer door, placed white packaged goods inside, and moved toward the yellow packaged goods."}], "detailed_task_instruction": ["Open the freezer door, then place the white packaged goods inside. Next, move the yellow packaged goods to their proper location within the freezer. Finally, close the freezer door to complete the tidying process."]}
{"task_id": "tidy_up_food_in_freezer", "episode_index": 48, "video_path": "tidy_up_food_in_freezer/videos/chunk-000/{video_key}/episode_000048.mp4", "tasks": ["Tidy up food in freezer."], "length": 1579, "index": 87894, "action_config": [{"start_frame": 0, "end_frame": 447, "action_text": "open the freezer door", "skill": "Open", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 447, "end_frame": 809, "action_text": "place the white packaged goods", "skill": "Strike", "language_memory": "The freezer door has been opened."}, {"start_frame": 809, "end_frame": 1121, "action_text": "move to the yellow packaged goods", "skill": "Navigate", "language_memory": "The robot has opened the freezer door and placed the white packaged goods inside."}, {"start_frame": 1121, "end_frame": 1545, "action_text": "close the freezer door", "skill": "Close", "language_memory": "The robot opened the freezer door, placed white packaged goods inside, and moved toward the yellow packaged goods."}], "detailed_task_instruction": ["Open the freezer door, then place the white packaged goods inside. Next, move the yellow packaged goods to their proper location within the freezer. Finally, close the freezer door to complete the tidying process."]}
{"task_id": "tidy_up_food_in_freezer", "episode_index": 49, "video_path": "tidy_up_food_in_freezer/videos/chunk-000/{video_key}/episode_000049.mp4", "tasks": ["Tidy up food in freezer."], "length": 3076, "index": 89473, "action_config": [{"start_frame": 0, "end_frame": 870, "action_text": "open the freezer door", "skill": "Open", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 870, "end_frame": 1569, "action_text": "place the white packaged goods", "skill": "Strike", "language_memory": "The freezer door has been opened."}, {"start_frame": 1569, "end_frame": 2469, "action_text": "move to the yellow packaged goods", "skill": "Navigate", "language_memory": "The robot has opened the freezer door and placed the white packaged goods inside."}, {"start_frame": 2469, "end_frame": 3042, "action_text": "close the freezer door", "skill": "Close", "language_memory": "The robot opened the freezer door, placed white packaged goods inside, and moved toward the yellow packaged goods."}], "detailed_task_instruction": ["Open the freezer door, then place the white packaged goods inside. Next, move the yellow packaged goods to their proper location within the freezer. Finally, close the freezer door to complete the tidying process."]}
{"task_id": "tidy_up_food_in_freezer", "episode_index": 50, "video_path": "tidy_up_food_in_freezer/videos/chunk-000/{video_key}/episode_000050.mp4", "tasks": ["Tidy up food in freezer."], "length": 2540, "index": 92549, "action_config": [{"start_frame": 36, "end_frame": 633, "action_text": "open the freezer door", "skill": "Open", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 633, "end_frame": 1215, "action_text": "place the white packaged goods", "skill": "Strike", "language_memory": "The freezer door has been opened."}, {"start_frame": 1215, "end_frame": 1953, "action_text": "move to the yellow packaged goods", "skill": "Navigate", "language_memory": "The robot has opened the freezer door and placed the white packaged goods inside."}, {"start_frame": 1953, "end_frame": 2504, "action_text": "close the freezer door", "skill": "Close", "language_memory": "The robot opened the freezer door, placed white packaged goods inside, and moved toward the yellow packaged goods."}], "detailed_task_instruction": ["Open the freezer door, then place the white packaged goods inside. Next, move the yellow packaged goods to their proper location within the freezer. Finally, close the freezer door to complete the tidying process."]}
{"task_id": "tidy_up_food_in_freezer", "episode_index": 51, "video_path": "tidy_up_food_in_freezer/videos/chunk-000/{video_key}/episode_000051.mp4", "tasks": ["Tidy up food in freezer."], "length": 1799, "index": 95089, "action_config": [{"start_frame": 30, "end_frame": 324, "action_text": "open the freezer door", "skill": "Open", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 324, "end_frame": 678, "action_text": "place the white packaged goods", "skill": "Strike", "language_memory": "The freezer door has been opened."}, {"start_frame": 678, "end_frame": 1274, "action_text": "move to the yellow packaged goods", "skill": "Navigate", "language_memory": "The robot has opened the freezer door and placed the white packaged goods inside."}, {"start_frame": 1274, "end_frame": 1755, "action_text": "close the freezer door", "skill": "Close", "language_memory": "The robot opened the freezer door, placed white packaged goods inside, and moved toward the yellow packaged goods."}], "detailed_task_instruction": ["Open the freezer door, then place the white packaged goods inside. Next, move the yellow packaged goods to their proper location within the freezer. Finally, close the freezer door to complete the tidying process."]}
{"task_id": "tidy_up_food_in_freezer", "episode_index": 52, "video_path": "tidy_up_food_in_freezer/videos/chunk-000/{video_key}/episode_000052.mp4", "tasks": ["Tidy up food in freezer."], "length": 1905, "index": 96888, "action_config": [{"start_frame": 0, "end_frame": 323, "action_text": "open the freezer door", "skill": "Open", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 323, "end_frame": 654, "action_text": "place the white packaged goods", "skill": "Strike", "language_memory": "The freezer door has been opened."}, {"start_frame": 654, "end_frame": 1254, "action_text": "move to the yellow packaged goods", "skill": "Navigate", "language_memory": "The robot has opened the freezer door and placed the white packaged goods inside."}, {"start_frame": 1254, "end_frame": 1779, "action_text": "close the freezer door", "skill": "Close", "language_memory": "The robot opened the freezer door, placed white packaged goods inside, and moved toward the yellow packaged goods."}], "detailed_task_instruction": ["Open the freezer door, then place the white packaged goods inside. Next, move the yellow packaged goods to their proper location within the freezer. Finally, close the freezer door to complete the tidying process."]}
{"task_id": "tidy_up_food_in_freezer", "episode_index": 53, "video_path": "tidy_up_food_in_freezer/videos/chunk-000/{video_key}/episode_000053.mp4", "tasks": ["Tidy up food in freezer."], "length": 1695, "index": 98793, "action_config": [{"start_frame": 0, "end_frame": 438, "action_text": "open the freezer door", "skill": "Open", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 438, "end_frame": 912, "action_text": "place the white packaged goods", "skill": "Strike", "language_memory": "The freezer door has been opened."}, {"start_frame": 912, "end_frame": 1218, "action_text": "move to the yellow packaged goods", "skill": "Navigate", "language_memory": "The robot has opened the freezer door and placed the white packaged goods inside."}, {"start_frame": 1218, "end_frame": 1634, "action_text": "close the freezer door", "skill": "Close", "language_memory": "The robot opened the freezer door, placed white packaged goods inside, and moved toward the yellow packaged goods."}], "detailed_task_instruction": ["Open the freezer door, then place the white packaged goods inside. Next, move the yellow packaged goods to their proper location within the freezer. Finally, close the freezer door to complete the tidying process."]}
{"task_id": "tidy_up_food_in_freezer", "episode_index": 54, "video_path": "tidy_up_food_in_freezer/videos/chunk-000/{video_key}/episode_000054.mp4", "tasks": ["Tidy up food in freezer."], "length": 1764, "index": 100488, "action_config": [{"start_frame": 0, "end_frame": 392, "action_text": "open the freezer door", "skill": "Open", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 392, "end_frame": 837, "action_text": "place the white packaged goods", "skill": "Strike", "language_memory": "The freezer door has been opened."}, {"start_frame": 837, "end_frame": 1251, "action_text": "move to the yellow packaged goods", "skill": "Navigate", "language_memory": "The robot has opened the freezer door and placed the white packaged goods inside."}, {"start_frame": 1251, "end_frame": 1629, "action_text": "close the freezer door", "skill": "Close", "language_memory": "The robot opened the freezer door, placed white packaged goods inside, and moved toward the yellow packaged goods."}], "detailed_task_instruction": ["Open the freezer door, then place the white packaged goods inside. Next, move the yellow packaged goods to their proper location within the freezer. Finally, close the freezer door to complete the tidying process."]}
{"task_id": "tidy_up_food_in_freezer", "episode_index": 55, "video_path": "tidy_up_food_in_freezer/videos/chunk-000/{video_key}/episode_000055.mp4", "tasks": ["Tidy up food in freezer."], "length": 1636, "index": 102252, "action_config": [{"start_frame": 0, "end_frame": 351, "action_text": "open the freezer door", "skill": "Open", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 351, "end_frame": 647, "action_text": "place the white packaged goods", "skill": "Strike", "language_memory": "The freezer door has been opened."}, {"start_frame": 647, "end_frame": 1098, "action_text": "move to the yellow packaged goods", "skill": "Navigate", "language_memory": "The robot has opened the freezer door and placed the white packaged goods inside."}, {"start_frame": 1098, "end_frame": 1497, "action_text": "close the freezer door", "skill": "Close", "language_memory": "The robot opened the freezer door, placed white packaged goods inside, and moved toward the yellow packaged goods."}], "detailed_task_instruction": ["Open the freezer door, then place the white packaged goods inside. Next, move the yellow packaged goods to their proper location within the freezer. Finally, close the freezer door to complete the tidying process."]}
{"task_id": "tidy_up_food_in_freezer", "episode_index": 56, "video_path": "tidy_up_food_in_freezer/videos/chunk-000/{video_key}/episode_000056.mp4", "tasks": ["Tidy up food in freezer."], "length": 1559, "index": 103888, "action_config": [{"start_frame": 0, "end_frame": 341, "action_text": "open the freezer door", "skill": "Open", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 341, "end_frame": 621, "action_text": "place the white packaged goods", "skill": "Strike", "language_memory": "The freezer door has been opened."}, {"start_frame": 621, "end_frame": 1148, "action_text": "move to the yellow packaged goods", "skill": "Navigate", "language_memory": "The robot has opened the freezer door and placed the white packaged goods inside."}, {"start_frame": 1148, "end_frame": 1541, "action_text": "close the freezer door", "skill": "Close", "language_memory": "The robot opened the freezer door, placed white packaged goods inside, and moved toward the yellow packaged goods."}], "detailed_task_instruction": ["Open the freezer door, then place the white packaged goods inside. Next, move the yellow packaged goods to their proper location within the freezer. Finally, close the freezer door to complete the tidying process."]}
{"task_id": "tidy_up_food_in_freezer", "episode_index": 57, "video_path": "tidy_up_food_in_freezer/videos/chunk-000/{video_key}/episode_000057.mp4", "tasks": ["Tidy up food in freezer."], "length": 1781, "index": 105447, "action_config": [{"start_frame": 0, "end_frame": 446, "action_text": "open the freezer door", "skill": "Open", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 446, "end_frame": 891, "action_text": "place the white packaged goods", "skill": "Strike", "language_memory": "The freezer door has been opened."}, {"start_frame": 891, "end_frame": 1336, "action_text": "move to the yellow packaged goods", "skill": "Navigate", "language_memory": "The robot has opened the freezer door and placed the white packaged goods inside."}, {"start_frame": 1336, "end_frame": 1781, "action_text": "close the freezer door", "skill": "Close", "language_memory": "The robot opened the freezer door, placed white packaged goods inside, and moved toward the yellow packaged goods."}], "detailed_task_instruction": ["Open the freezer door, then place the white packaged goods inside. Next, move the yellow packaged goods to their proper location within the freezer. Finally, close the freezer door to complete the tidying process."]}
{"task_id": "tidy_up_food_in_freezer", "episode_index": 58, "video_path": "tidy_up_food_in_freezer/videos/chunk-000/{video_key}/episode_000058.mp4", "tasks": ["Tidy up food in freezer."], "length": 1522, "index": 107228, "action_config": [{"start_frame": 0, "end_frame": 381, "action_text": "open the freezer door", "skill": "Open", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 381, "end_frame": 762, "action_text": "place the white packaged goods", "skill": "Strike", "language_memory": "The freezer door has been opened."}, {"start_frame": 762, "end_frame": 1142, "action_text": "move to the yellow packaged goods", "skill": "Navigate", "language_memory": "The robot has opened the freezer door and placed the white packaged goods inside."}, {"start_frame": 1142, "end_frame": 1522, "action_text": "close the freezer door", "skill": "Close", "language_memory": "The robot opened the freezer door, placed white packaged goods inside, and moved toward the yellow packaged goods."}], "detailed_task_instruction": ["Open the freezer door, then place the white packaged goods inside. Next, move the yellow packaged goods to their proper location within the freezer. Finally, close the freezer door to complete the tidying process."]}
{"task_id": "tidy_up_food_in_freezer", "episode_index": 59, "video_path": "tidy_up_food_in_freezer/videos/chunk-000/{video_key}/episode_000059.mp4", "tasks": ["Tidy up food in freezer."], "length": 1942, "index": 108750, "action_config": [{"start_frame": 45, "end_frame": 483, "action_text": "open the freezer door", "skill": "Open", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 483, "end_frame": 930, "action_text": "place the white packaged goods", "skill": "Strike", "language_memory": "The freezer door has been opened."}, {"start_frame": 930, "end_frame": 1457, "action_text": "move to the yellow packaged goods", "skill": "Navigate", "language_memory": "The robot has opened the freezer door and placed the white packaged goods inside."}, {"start_frame": 1457, "end_frame": 1942, "action_text": "close the freezer door", "skill": "Close", "language_memory": "The robot opened the freezer door, placed white packaged goods inside, and moved toward the yellow packaged goods."}], "detailed_task_instruction": ["Open the freezer door, then place the white packaged goods inside. Next, move the yellow packaged goods to their proper location within the freezer. Finally, close the freezer door to complete the tidying process."]}
{"task_id": "tidy_up_food_in_freezer", "episode_index": 60, "video_path": "tidy_up_food_in_freezer/videos/chunk-000/{video_key}/episode_000060.mp4", "tasks": ["Tidy up food in freezer."], "length": 1010, "index": 110692, "action_config": [{"start_frame": 0, "end_frame": 282, "action_text": "open the freezer door", "skill": "Open", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 282, "end_frame": 500, "action_text": "place the white packaged goods", "skill": "Strike", "language_memory": "The freezer door has been opened."}, {"start_frame": 500, "end_frame": 717, "action_text": "move to the yellow packaged goods", "skill": "Navigate", "language_memory": "The robot has opened the freezer door and placed the white packaged goods inside."}, {"start_frame": 717, "end_frame": 984, "action_text": "close the freezer door", "skill": "Close", "language_memory": "The robot opened the freezer door, placed white packaged goods inside, and moved toward the yellow packaged goods."}], "detailed_task_instruction": ["Open the freezer door, then place the white packaged goods inside. Next, move the yellow packaged goods to their proper location within the freezer. Finally, close the freezer door to complete the tidying process."]}
{"task_id": "tidy_up_food_in_freezer", "episode_index": 61, "video_path": "tidy_up_food_in_freezer/videos/chunk-000/{video_key}/episode_000061.mp4", "tasks": ["Tidy up food in freezer."], "length": 1532, "index": 111702, "action_config": [{"start_frame": 0, "end_frame": 360, "action_text": "open the freezer door", "skill": "Open", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 360, "end_frame": 649, "action_text": "place the white packaged goods", "skill": "Strike", "language_memory": "The freezer door has been opened."}, {"start_frame": 649, "end_frame": 1020, "action_text": "move to the yellow packaged goods", "skill": "Navigate", "language_memory": "The robot has opened the freezer door and placed the white packaged goods inside."}, {"start_frame": 1020, "end_frame": 1498, "action_text": "close the freezer door", "skill": "Close", "language_memory": "The robot opened the freezer door, placed white packaged goods inside, and moved toward the yellow packaged goods."}], "detailed_task_instruction": ["Open the freezer door, then place the white packaged goods inside. Next, move the yellow packaged goods to their proper location within the freezer. Finally, close the freezer door to complete the tidying process."]}
{"task_id": "tidy_up_food_in_freezer", "episode_index": 62, "video_path": "tidy_up_food_in_freezer/videos/chunk-000/{video_key}/episode_000062.mp4", "tasks": ["Tidy up food in freezer."], "length": 1709, "index": 113234, "action_config": [{"start_frame": 0, "end_frame": 501, "action_text": "open the freezer door", "skill": "Open", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 501, "end_frame": 894, "action_text": "place the white packaged goods", "skill": "Strike", "language_memory": "The freezer door has been opened."}, {"start_frame": 894, "end_frame": 1225, "action_text": "move to the yellow packaged goods", "skill": "Navigate", "language_memory": "The robot has opened the freezer door and placed the white packaged goods inside."}, {"start_frame": 1225, "end_frame": 1671, "action_text": "close the freezer door", "skill": "Close", "language_memory": "The robot opened the freezer door, placed white packaged goods inside, and moved toward the yellow packaged goods."}], "detailed_task_instruction": ["Open the freezer door, then place the white packaged goods inside. Next, move the yellow packaged goods to their proper location within the freezer. Finally, close the freezer door to complete the tidying process."]}
{"task_id": "tidy_up_food_in_freezer", "episode_index": 63, "video_path": "tidy_up_food_in_freezer/videos/chunk-000/{video_key}/episode_000063.mp4", "tasks": ["Tidy up food in freezer."], "length": 1545, "index": 114943, "action_config": [{"start_frame": 0, "end_frame": 387, "action_text": "open the freezer door", "skill": "Open", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 387, "end_frame": 706, "action_text": "place the white packaged goods", "skill": "Strike", "language_memory": "The freezer door has been opened."}, {"start_frame": 706, "end_frame": 1020, "action_text": "move to the yellow packaged goods", "skill": "Navigate", "language_memory": "The robot has opened the freezer door and placed the white packaged goods inside."}, {"start_frame": 1020, "end_frame": 1512, "action_text": "close the freezer door", "skill": "Close", "language_memory": "The robot opened the freezer door, placed white packaged goods inside, and moved toward the yellow packaged goods."}], "detailed_task_instruction": ["Open the freezer door, then place the white packaged goods inside. Next, move the yellow packaged goods to their proper location within the freezer. Finally, close the freezer door to complete the tidying process."]}
{"task_id": "tidy_up_food_in_freezer", "episode_index": 64, "video_path": "tidy_up_food_in_freezer/videos/chunk-000/{video_key}/episode_000064.mp4", "tasks": ["Tidy up food in freezer."], "length": 1917, "index": 116488, "action_config": [{"start_frame": 0, "end_frame": 480, "action_text": "open the freezer door", "skill": "Open", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 480, "end_frame": 916, "action_text": "place the white packaged goods", "skill": "Strike", "language_memory": "The freezer door has been opened."}, {"start_frame": 916, "end_frame": 1336, "action_text": "move to the yellow packaged goods", "skill": "Navigate", "language_memory": "The robot has opened the freezer door and placed the white packaged goods inside."}, {"start_frame": 1336, "end_frame": 1876, "action_text": "close the freezer door", "skill": "Close", "language_memory": "The robot opened the freezer door, placed white packaged goods inside, and moved toward the yellow packaged goods."}], "detailed_task_instruction": ["Open the freezer door, then place the white packaged goods inside. Next, move the yellow packaged goods to their proper location within the freezer. Finally, close the freezer door to complete the tidying process."]}
{"task_id": "tidy_up_food_in_freezer", "episode_index": 65, "video_path": "tidy_up_food_in_freezer/videos/chunk-000/{video_key}/episode_000065.mp4", "tasks": ["Tidy up food in freezer."], "length": 1934, "index": 118405, "action_config": [{"start_frame": 0, "end_frame": 648, "action_text": "open the freezer door", "skill": "Open", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 648, "end_frame": 966, "action_text": "place the white packaged goods", "skill": "Strike", "language_memory": "The freezer door has been opened."}, {"start_frame": 966, "end_frame": 1389, "action_text": "move to the yellow packaged goods", "skill": "Navigate", "language_memory": "The robot has opened the freezer door and placed the white packaged goods inside."}, {"start_frame": 1389, "end_frame": 1873, "action_text": "close the freezer door", "skill": "Close", "language_memory": "The robot opened the freezer door, placed white packaged goods inside, and moved toward the yellow packaged goods."}], "detailed_task_instruction": ["Open the freezer door, then place the white packaged goods inside. Next, move the yellow packaged goods to their proper location within the freezer. Finally, close the freezer door to complete the tidying process."]}
{"task_id": "tidy_up_food_in_freezer", "episode_index": 66, "video_path": "tidy_up_food_in_freezer/videos/chunk-000/{video_key}/episode_000066.mp4", "tasks": ["Tidy up food in freezer."], "length": 1371, "index": 120339, "action_config": [{"start_frame": 0, "end_frame": 318, "action_text": "open the freezer door", "skill": "Open", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 318, "end_frame": 561, "action_text": "place the white packaged goods", "skill": "Strike", "language_memory": "The freezer door has been opened."}, {"start_frame": 561, "end_frame": 952, "action_text": "move to the yellow packaged goods", "skill": "Navigate", "language_memory": "The robot has opened the freezer door and placed the white packaged goods inside."}, {"start_frame": 952, "end_frame": 1349, "action_text": "close the freezer door", "skill": "Close", "language_memory": "The robot opened the freezer door, placed white packaged goods inside, and moved toward the yellow packaged goods."}], "detailed_task_instruction": ["Open the freezer door, then place the white packaged goods inside. Next, move the yellow packaged goods to their proper location within the freezer. Finally, close the freezer door to complete the tidying process."]}
{"task_id": "tidy_up_food_in_freezer", "episode_index": 67, "video_path": "tidy_up_food_in_freezer/videos/chunk-000/{video_key}/episode_000067.mp4", "tasks": ["Tidy up food in freezer."], "length": 2085, "index": 121710, "action_config": [{"start_frame": 0, "end_frame": 477, "action_text": "open the freezer door", "skill": "Open", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 477, "end_frame": 888, "action_text": "place the white packaged goods", "skill": "Strike", "language_memory": "The freezer door has been opened."}, {"start_frame": 888, "end_frame": 1425, "action_text": "move to the yellow packaged goods", "skill": "Navigate", "language_memory": "The robot has opened the freezer door and placed the white packaged goods inside."}, {"start_frame": 1425, "end_frame": 1941, "action_text": "close the freezer door", "skill": "Close", "language_memory": "The robot opened the freezer door, placed white packaged goods inside, and moved toward the yellow packaged goods."}], "detailed_task_instruction": ["Open the freezer door, then place the white packaged goods inside. Next, move the yellow packaged goods to their proper location within the freezer. Finally, close the freezer door to complete the tidying process."]}
{"task_id": "tidy_up_food_in_freezer", "episode_index": 68, "video_path": "tidy_up_food_in_freezer/videos/chunk-000/{video_key}/episode_000068.mp4", "tasks": ["Tidy up food in freezer."], "length": 1878, "index": 123795, "action_config": [{"start_frame": 0, "end_frame": 369, "action_text": "open the freezer door", "skill": "Open", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 369, "end_frame": 780, "action_text": "place the white packaged goods", "skill": "Strike", "language_memory": "The freezer door has been opened."}, {"start_frame": 780, "end_frame": 1326, "action_text": "move to the yellow packaged goods", "skill": "Navigate", "language_memory": "The robot has opened the freezer door and placed the white packaged goods inside."}, {"start_frame": 1326, "end_frame": 1857, "action_text": "close the freezer door", "skill": "Close", "language_memory": "The robot opened the freezer door, placed white packaged goods inside, and moved toward the yellow packaged goods."}], "detailed_task_instruction": ["Open the freezer door, then place the white packaged goods inside. Next, move the yellow packaged goods to their proper location within the freezer. Finally, close the freezer door to complete the tidying process."]}
{"task_id": "tidy_up_food_in_freezer", "episode_index": 69, "video_path": "tidy_up_food_in_freezer/videos/chunk-000/{video_key}/episode_000069.mp4", "tasks": ["Tidy up food in freezer."], "length": 1569, "index": 125673, "action_config": [{"start_frame": 0, "end_frame": 375, "action_text": "open the freezer door", "skill": "Open", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 375, "end_frame": 657, "action_text": "place the white packaged goods", "skill": "Strike", "language_memory": "The freezer door has been opened."}, {"start_frame": 657, "end_frame": 1018, "action_text": "move to the yellow packaged goods", "skill": "Navigate", "language_memory": "The robot has opened the freezer door and placed the white packaged goods inside."}, {"start_frame": 1018, "end_frame": 1536, "action_text": "close the freezer door", "skill": "Close", "language_memory": "The robot opened the freezer door, placed white packaged goods inside, and moved toward the yellow packaged goods."}], "detailed_task_instruction": ["Open the freezer door, then place the white packaged goods inside. Next, move the yellow packaged goods to their proper location within the freezer. Finally, close the freezer door to complete the tidying process."]}
{"task_id": "tidy_up_food_in_freezer", "episode_index": 70, "video_path": "tidy_up_food_in_freezer/videos/chunk-000/{video_key}/episode_000070.mp4", "tasks": ["Tidy up food in freezer."], "length": 1593, "index": 127242, "action_config": [{"start_frame": 0, "end_frame": 399, "action_text": "open the freezer door", "skill": "Open", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 399, "end_frame": 693, "action_text": "place the white packaged goods", "skill": "Strike", "language_memory": "The freezer door has been opened."}, {"start_frame": 693, "end_frame": 1122, "action_text": "move to the yellow packaged goods", "skill": "Navigate", "language_memory": "The robot has opened the freezer door and placed the white packaged goods inside."}, {"start_frame": 1122, "end_frame": 1496, "action_text": "close the freezer door", "skill": "Close", "language_memory": "The robot opened the freezer door, placed white packaged goods inside, and moved toward the yellow packaged goods."}], "detailed_task_instruction": ["Open the freezer door, then place the white packaged goods inside. Next, move the yellow packaged goods to their proper location within the freezer. Finally, close the freezer door to complete the tidying process."]}
{"task_id": "tidy_up_food_in_freezer", "episode_index": 71, "video_path": "tidy_up_food_in_freezer/videos/chunk-000/{video_key}/episode_000071.mp4", "tasks": ["Tidy up food in freezer."], "length": 1191, "index": 128835, "action_config": [{"start_frame": 0, "end_frame": 255, "action_text": "open the freezer door", "skill": "Open", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 255, "end_frame": 483, "action_text": "place the white packaged goods", "skill": "Strike", "language_memory": "The freezer door has been opened."}, {"start_frame": 483, "end_frame": 708, "action_text": "move to the yellow packaged goods", "skill": "Navigate", "language_memory": "The robot has opened the freezer door and placed the white packaged goods inside."}, {"start_frame": 708, "end_frame": 1097, "action_text": "close the freezer door", "skill": "Close", "language_memory": "The robot opened the freezer door, placed white packaged goods inside, and moved toward the yellow packaged goods."}], "detailed_task_instruction": ["Open the freezer door, then place the white packaged goods inside. Next, move the yellow packaged goods to their proper location within the freezer. Finally, close the freezer door to complete the tidying process."]}
{"task_id": "tidy_up_food_in_freezer", "episode_index": 72, "video_path": "tidy_up_food_in_freezer/videos/chunk-000/{video_key}/episode_000072.mp4", "tasks": ["Tidy up food in freezer."], "length": 2100, "index": 130026, "action_config": [{"start_frame": 0, "end_frame": 543, "action_text": "open the freezer door", "skill": "Open", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 543, "end_frame": 924, "action_text": "place the white packaged goods", "skill": "Strike", "language_memory": "The freezer door has been opened."}, {"start_frame": 924, "end_frame": 1431, "action_text": "move to the yellow packaged goods", "skill": "Navigate", "language_memory": "The robot has opened the freezer door and placed the white packaged goods inside."}, {"start_frame": 1431, "end_frame": 1940, "action_text": "close the freezer door", "skill": "Close", "language_memory": "The robot opened the freezer door, placed white packaged goods inside, and moved toward the yellow packaged goods."}], "detailed_task_instruction": ["Open the freezer door, then place the white packaged goods inside. Next, move the yellow packaged goods to their proper location within the freezer. Finally, close the freezer door to complete the tidying process."]}
{"task_id": "tidy_up_food_in_freezer", "episode_index": 73, "video_path": "tidy_up_food_in_freezer/videos/chunk-000/{video_key}/episode_000073.mp4", "tasks": ["Tidy up food in freezer."], "length": 1149, "index": 132126, "action_config": [{"start_frame": 0, "end_frame": 267, "action_text": "open the freezer door", "skill": "Open", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 267, "end_frame": 510, "action_text": "place the white packaged goods", "skill": "Strike", "language_memory": "The freezer door has been opened."}, {"start_frame": 510, "end_frame": 776, "action_text": "move to the yellow packaged goods", "skill": "Navigate", "language_memory": "The robot has opened the freezer door and placed the white packaged goods inside."}, {"start_frame": 776, "end_frame": 1032, "action_text": "close the freezer door", "skill": "Close", "language_memory": "The robot opened the freezer door, placed white packaged goods inside, and moved toward the yellow packaged goods."}], "detailed_task_instruction": ["Open the freezer door, then place the white packaged goods inside. Next, move the yellow packaged goods to their proper location within the freezer. Finally, close the freezer door to complete the tidying process."]}
{"task_id": "tidy_up_food_in_freezer", "episode_index": 74, "video_path": "tidy_up_food_in_freezer/videos/chunk-000/{video_key}/episode_000074.mp4", "tasks": ["Tidy up food in freezer."], "length": 2052, "index": 133275, "action_config": [{"start_frame": 0, "end_frame": 560, "action_text": "open the freezer door", "skill": "Open", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 560, "end_frame": 1071, "action_text": "place the white packaged goods", "skill": "Strike", "language_memory": "The freezer door has been opened."}, {"start_frame": 1071, "end_frame": 1481, "action_text": "move to the yellow packaged goods", "skill": "Navigate", "language_memory": "The robot has opened the freezer door and placed the white packaged goods inside."}, {"start_frame": 1481, "end_frame": 1944, "action_text": "close the freezer door", "skill": "Close", "language_memory": "The robot opened the freezer door, placed white packaged goods inside, and moved toward the yellow packaged goods."}], "detailed_task_instruction": ["Open the freezer door, then place the white packaged goods inside. Next, move the yellow packaged goods to their proper location within the freezer. Finally, close the freezer door to complete the tidying process."]}
{"task_id": "tidy_up_food_in_freezer", "episode_index": 75, "video_path": "tidy_up_food_in_freezer/videos/chunk-000/{video_key}/episode_000075.mp4", "tasks": ["Tidy up food in freezer."], "length": 1725, "index": 135327, "action_config": [{"start_frame": 0, "end_frame": 495, "action_text": "open the freezer door", "skill": "Open", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 495, "end_frame": 867, "action_text": "place the white packaged goods", "skill": "Strike", "language_memory": "The freezer door has been opened."}, {"start_frame": 867, "end_frame": 1179, "action_text": "move to the yellow packaged goods", "skill": "Navigate", "language_memory": "The robot has opened the freezer door and placed the white packaged goods inside."}, {"start_frame": 1179, "end_frame": 1691, "action_text": "close the freezer door", "skill": "Close", "language_memory": "The robot opened the freezer door, placed white packaged goods inside, and moved toward the yellow packaged goods."}], "detailed_task_instruction": ["Open the freezer door, then place the white packaged goods inside. Next, move the yellow packaged goods to their proper location within the freezer. Finally, close the freezer door to complete the tidying process."]}
{"task_id": "tidy_up_food_in_freezer", "episode_index": 76, "video_path": "tidy_up_food_in_freezer/videos/chunk-000/{video_key}/episode_000076.mp4", "tasks": ["Tidy up food in freezer."], "length": 1377, "index": 137052, "action_config": [{"start_frame": 0, "end_frame": 339, "action_text": "open the freezer door", "skill": "Open", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 339, "end_frame": 618, "action_text": "place the white packaged goods", "skill": "Strike", "language_memory": "The freezer door has been opened."}, {"start_frame": 618, "end_frame": 966, "action_text": "move to the yellow packaged goods", "skill": "Navigate", "language_memory": "The robot has opened the freezer door and placed the white packaged goods inside."}, {"start_frame": 966, "end_frame": 1275, "action_text": "close the freezer door", "skill": "Close", "language_memory": "The robot opened the freezer door, placed white packaged goods inside, and moved toward the yellow packaged goods."}], "detailed_task_instruction": ["Open the freezer door, then place the white packaged goods inside. Next, move the yellow packaged goods to their proper location within the freezer. Finally, close the freezer door to complete the tidying process."]}
{"task_id": "tidy_up_food_in_freezer", "episode_index": 77, "video_path": "tidy_up_food_in_freezer/videos/chunk-000/{video_key}/episode_000077.mp4", "tasks": ["Tidy up food in freezer."], "length": 1511, "index": 138429, "action_config": [{"start_frame": 0, "end_frame": 354, "action_text": "open the freezer door", "skill": "Open", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 354, "end_frame": 726, "action_text": "place the white packaged goods", "skill": "Strike", "language_memory": "The freezer door has been opened."}, {"start_frame": 726, "end_frame": 1037, "action_text": "move to the yellow packaged goods", "skill": "Navigate", "language_memory": "The robot has opened the freezer door and placed the white packaged goods inside."}, {"start_frame": 1037, "end_frame": 1377, "action_text": "close the freezer door", "skill": "Close", "language_memory": "The robot opened the freezer door, placed white packaged goods inside, and moved toward the yellow packaged goods."}], "detailed_task_instruction": ["Open the freezer door, then place the white packaged goods inside. Next, move the yellow packaged goods to their proper location within the freezer. Finally, close the freezer door to complete the tidying process."]}
{"task_id": "tidy_up_food_in_freezer", "episode_index": 78, "video_path": "tidy_up_food_in_freezer/videos/chunk-000/{video_key}/episode_000078.mp4", "tasks": ["Tidy up food in freezer."], "length": 1785, "index": 139940, "action_config": [{"start_frame": 0, "end_frame": 404, "action_text": "open the freezer door", "skill": "Open", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 404, "end_frame": 848, "action_text": "place the white packaged goods", "skill": "Strike", "language_memory": "The freezer door has been opened."}, {"start_frame": 848, "end_frame": 1296, "action_text": "move to the yellow packaged goods", "skill": "Navigate", "language_memory": "The robot has opened the freezer door and placed the white packaged goods inside."}, {"start_frame": 1296, "end_frame": 1692, "action_text": "close the freezer door", "skill": "Close", "language_memory": "The robot opened the freezer door, placed white packaged goods inside, and moved toward the yellow packaged goods."}], "detailed_task_instruction": ["Open the freezer door, then place the white packaged goods inside. Next, move the yellow packaged goods to their proper location within the freezer. Finally, close the freezer door to complete the tidying process."]}
{"task_id": "tidy_up_food_in_freezer", "episode_index": 79, "video_path": "tidy_up_food_in_freezer/videos/chunk-000/{video_key}/episode_000079.mp4", "tasks": ["Tidy up food in freezer."], "length": 1743, "index": 141725, "action_config": [{"start_frame": 0, "end_frame": 428, "action_text": "open the freezer door", "skill": "Open", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 428, "end_frame": 858, "action_text": "place the white packaged goods", "skill": "Strike", "language_memory": "The freezer door has been opened."}, {"start_frame": 858, "end_frame": 1248, "action_text": "move to the yellow packaged goods", "skill": "Navigate", "language_memory": "The robot has opened the freezer door and placed the white packaged goods inside."}, {"start_frame": 1248, "end_frame": 1613, "action_text": "close the freezer door", "skill": "Close", "language_memory": "The robot opened the freezer door, placed white packaged goods inside, and moved toward the yellow packaged goods."}], "detailed_task_instruction": ["Open the freezer door, then place the white packaged goods inside. Next, move the yellow packaged goods to their proper location within the freezer. Finally, close the freezer door to complete the tidying process."]}
{"task_id": "tidy_up_food_in_freezer", "episode_index": 80, "video_path": "tidy_up_food_in_freezer/videos/chunk-000/{video_key}/episode_000080.mp4", "tasks": ["Tidy up food in freezer."], "length": 1333, "index": 143468, "action_config": [{"start_frame": 0, "end_frame": 314, "action_text": "open the freezer door", "skill": "Open", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 314, "end_frame": 575, "action_text": "place the white packaged goods", "skill": "Strike", "language_memory": "The freezer door has been opened."}, {"start_frame": 575, "end_frame": 822, "action_text": "move to the yellow packaged goods", "skill": "Navigate", "language_memory": "The robot has opened the freezer door and placed the white packaged goods inside."}, {"start_frame": 822, "end_frame": 1247, "action_text": "close the freezer door", "skill": "Close", "language_memory": "The robot opened the freezer door, placed white packaged goods inside, and moved toward the yellow packaged goods."}], "detailed_task_instruction": ["Open the freezer door, then place the white packaged goods inside. Next, move the yellow packaged goods to their proper location within the freezer. Finally, close the freezer door to complete the tidying process."]}
{"task_id": "tidy_up_food_in_freezer", "episode_index": 81, "video_path": "tidy_up_food_in_freezer/videos/chunk-000/{video_key}/episode_000081.mp4", "tasks": ["Tidy up food in freezer."], "length": 1487, "index": 144801, "action_config": [{"start_frame": 0, "end_frame": 373, "action_text": "open the freezer door", "skill": "Open", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 373, "end_frame": 726, "action_text": "place the white packaged goods", "skill": "Strike", "language_memory": "The freezer door has been opened."}, {"start_frame": 726, "end_frame": 1105, "action_text": "move to the yellow packaged goods", "skill": "Navigate", "language_memory": "The robot has opened the freezer door and placed the white packaged goods inside."}, {"start_frame": 1105, "end_frame": 1403, "action_text": "close the freezer door", "skill": "Close", "language_memory": "The robot opened the freezer door, placed white packaged goods inside, and moved toward the yellow packaged goods."}], "detailed_task_instruction": ["Open the freezer door, then place the white packaged goods inside. Next, move the yellow packaged goods to their proper location within the freezer. Finally, close the freezer door to complete the tidying process."]}
{"task_id": "tidy_up_food_in_freezer", "episode_index": 82, "video_path": "tidy_up_food_in_freezer/videos/chunk-000/{video_key}/episode_000082.mp4", "tasks": ["Tidy up food in freezer."], "length": 1449, "index": 146288, "action_config": [{"start_frame": 0, "end_frame": 320, "action_text": "open the freezer door", "skill": "Open", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 320, "end_frame": 576, "action_text": "place the white packaged goods", "skill": "Strike", "language_memory": "The freezer door has been opened."}, {"start_frame": 576, "end_frame": 1023, "action_text": "move to the yellow packaged goods", "skill": "Navigate", "language_memory": "The robot has opened the freezer door and placed the white packaged goods inside."}, {"start_frame": 1023, "end_frame": 1374, "action_text": "close the freezer door", "skill": "Close", "language_memory": "The robot opened the freezer door, placed white packaged goods inside, and moved toward the yellow packaged goods."}], "detailed_task_instruction": ["Open the freezer door, then place the white packaged goods inside. Next, move the yellow packaged goods to their proper location within the freezer. Finally, close the freezer door to complete the tidying process."]}
{"task_id": "tidy_up_food_in_freezer", "episode_index": 83, "video_path": "tidy_up_food_in_freezer/videos/chunk-000/{video_key}/episode_000083.mp4", "tasks": ["Tidy up food in freezer."], "length": 1997, "index": 147737, "action_config": [{"start_frame": 0, "end_frame": 468, "action_text": "open the freezer door", "skill": "Open", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 468, "end_frame": 915, "action_text": "place the white packaged goods", "skill": "Strike", "language_memory": "The freezer door has been opened."}, {"start_frame": 915, "end_frame": 1418, "action_text": "move to the yellow packaged goods", "skill": "Navigate", "language_memory": "The robot has opened the freezer door and placed the white packaged goods inside."}, {"start_frame": 1418, "end_frame": 1842, "action_text": "close the freezer door", "skill": "Close", "language_memory": "The robot opened the freezer door, placed white packaged goods inside, and moved toward the yellow packaged goods."}], "detailed_task_instruction": ["Open the freezer door, then place the white packaged goods inside. Next, move the yellow packaged goods to their proper location within the freezer. Finally, close the freezer door to complete the tidying process."]}
{"task_id": "tidy_up_food_in_freezer", "episode_index": 84, "video_path": "tidy_up_food_in_freezer/videos/chunk-000/{video_key}/episode_000084.mp4", "tasks": ["Tidy up food in freezer."], "length": 1780, "index": 149734, "action_config": [{"start_frame": 0, "end_frame": 322, "action_text": "open the freezer door", "skill": "Open", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 322, "end_frame": 582, "action_text": "place the white packaged goods", "skill": "Strike", "language_memory": "The freezer door has been opened."}, {"start_frame": 582, "end_frame": 1061, "action_text": "move to the yellow packaged goods", "skill": "Navigate", "language_memory": "The robot has opened the freezer door and placed the white packaged goods inside."}, {"start_frame": 1061, "end_frame": 1626, "action_text": "close the freezer door", "skill": "Close", "language_memory": "The robot opened the freezer door, placed white packaged goods inside, and moved toward the yellow packaged goods."}], "detailed_task_instruction": ["Open the freezer door, then place the white packaged goods inside. Next, move the yellow packaged goods to their proper location within the freezer. Finally, close the freezer door to complete the tidying process."]}
{"task_id": "tidy_up_food_in_freezer", "episode_index": 85, "video_path": "tidy_up_food_in_freezer/videos/chunk-000/{video_key}/episode_000085.mp4", "tasks": ["Tidy up food in freezer."], "length": 1579, "index": 151514, "action_config": [{"start_frame": 0, "end_frame": 285, "action_text": "open the freezer door", "skill": "Open", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 285, "end_frame": 573, "action_text": "place the white packaged goods", "skill": "Strike", "language_memory": "The freezer door has been opened."}, {"start_frame": 573, "end_frame": 1074, "action_text": "move to the yellow packaged goods", "skill": "Navigate", "language_memory": "The robot has opened the freezer door and placed the white packaged goods inside."}, {"start_frame": 1074, "end_frame": 1454, "action_text": "close the freezer door", "skill": "Close", "language_memory": "The robot opened the freezer door, placed white packaged goods inside, and moved toward the yellow packaged goods."}], "detailed_task_instruction": ["Open the freezer door, then place the white packaged goods inside. Next, move the yellow packaged goods to their proper location within the freezer. Finally, close the freezer door to complete the tidying process."]}
{"task_id": "tidy_up_food_in_freezer", "episode_index": 86, "video_path": "tidy_up_food_in_freezer/videos/chunk-000/{video_key}/episode_000086.mp4", "tasks": ["Tidy up food in freezer."], "length": 1739, "index": 153093, "action_config": [{"start_frame": 0, "end_frame": 414, "action_text": "open the freezer door", "skill": "Open", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 414, "end_frame": 705, "action_text": "place the white packaged goods", "skill": "Strike", "language_memory": "The freezer door has been opened."}, {"start_frame": 705, "end_frame": 1208, "action_text": "move to the yellow packaged goods", "skill": "Navigate", "language_memory": "The robot has opened the freezer door and placed the white packaged goods inside."}, {"start_frame": 1208, "end_frame": 1607, "action_text": "close the freezer door", "skill": "Close", "language_memory": "The robot opened the freezer door, placed white packaged goods inside, and moved toward the yellow packaged goods."}], "detailed_task_instruction": ["Open the freezer door, then place the white packaged goods inside. Next, move the yellow packaged goods to their proper location within the freezer. Finally, close the freezer door to complete the tidying process."]}
{"task_id": "tidy_up_food_in_freezer", "episode_index": 87, "video_path": "tidy_up_food_in_freezer/videos/chunk-000/{video_key}/episode_000087.mp4", "tasks": ["Tidy up food in freezer."], "length": 1561, "index": 154832, "action_config": [{"start_frame": 24, "end_frame": 453, "action_text": "open the freezer door", "skill": "Open", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 453, "end_frame": 792, "action_text": "place the white packaged goods", "skill": "Strike", "language_memory": "The freezer door has been opened."}, {"start_frame": 792, "end_frame": 1080, "action_text": "move to the yellow packaged goods", "skill": "Navigate", "language_memory": "The robot has opened the freezer door and placed the white packaged goods inside."}, {"start_frame": 1080, "end_frame": 1493, "action_text": "close the freezer door", "skill": "Close", "language_memory": "The robot opened the freezer door, placed white packaged goods inside, and moved toward the yellow packaged goods."}], "detailed_task_instruction": ["Open the freezer door, then place the white packaged goods inside. Next, move the yellow packaged goods to their proper location within the freezer. Finally, close the freezer door to complete the tidying process."]}
{"task_id": "tidy_up_food_in_freezer", "episode_index": 88, "video_path": "tidy_up_food_in_freezer/videos/chunk-000/{video_key}/episode_000088.mp4", "tasks": ["Tidy up food in freezer."], "length": 1939, "index": 156393, "action_config": [{"start_frame": 0, "end_frame": 420, "action_text": "open the freezer door", "skill": "Open", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 420, "end_frame": 792, "action_text": "place the white packaged goods", "skill": "Strike", "language_memory": "The freezer door has been opened."}, {"start_frame": 792, "end_frame": 1301, "action_text": "move to the yellow packaged goods", "skill": "Navigate", "language_memory": "The robot has opened the freezer door and placed the white packaged goods inside."}, {"start_frame": 1301, "end_frame": 1826, "action_text": "close the freezer door", "skill": "Close", "language_memory": "The robot opened the freezer door, placed white packaged goods inside, and moved toward the yellow packaged goods."}], "detailed_task_instruction": ["Open the freezer door, then place the white packaged goods inside. Next, move the yellow packaged goods to their proper location within the freezer. Finally, close the freezer door to complete the tidying process."]}
{"task_id": "tidy_up_food_in_freezer", "episode_index": 89, "video_path": "tidy_up_food_in_freezer/videos/chunk-000/{video_key}/episode_000089.mp4", "tasks": ["Tidy up food in freezer."], "length": 1916, "index": 158332, "action_config": [{"start_frame": 0, "end_frame": 513, "action_text": "open the freezer door", "skill": "Open", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 513, "end_frame": 881, "action_text": "place the white packaged goods", "skill": "Strike", "language_memory": "The freezer door has been opened."}, {"start_frame": 881, "end_frame": 1221, "action_text": "move to the yellow packaged goods", "skill": "Navigate", "language_memory": "The robot has opened the freezer door and placed the white packaged goods inside."}, {"start_frame": 1221, "end_frame": 1728, "action_text": "close the freezer door", "skill": "Close", "language_memory": "The robot opened the freezer door, placed white packaged goods inside, and moved toward the yellow packaged goods."}], "detailed_task_instruction": ["Open the freezer door, then place the white packaged goods inside. Next, move the yellow packaged goods to their proper location within the freezer. Finally, close the freezer door to complete the tidying process."]}
{"task_id": "tidy_up_food_in_freezer", "episode_index": 90, "video_path": "tidy_up_food_in_freezer/videos/chunk-000/{video_key}/episode_000090.mp4", "tasks": ["Tidy up food in freezer."], "length": 1258, "index": 160248, "action_config": [{"start_frame": 0, "end_frame": 306, "action_text": "open the freezer door", "skill": "Open", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 306, "end_frame": 543, "action_text": "place the white packaged goods", "skill": "Strike", "language_memory": "The freezer door has been opened."}, {"start_frame": 543, "end_frame": 813, "action_text": "move to the yellow packaged goods", "skill": "Navigate", "language_memory": "The robot has opened the freezer door and placed the white packaged goods inside."}, {"start_frame": 813, "end_frame": 1124, "action_text": "close the freezer door", "skill": "Close", "language_memory": "The robot opened the freezer door, placed white packaged goods inside, and moved toward the yellow packaged goods."}], "detailed_task_instruction": ["Open the freezer door, then place the white packaged goods inside. Next, move the yellow packaged goods to their proper location within the freezer. Finally, close the freezer door to complete the tidying process."]}
{"task_id": "tidy_up_food_in_freezer", "episode_index": 91, "video_path": "tidy_up_food_in_freezer/videos/chunk-000/{video_key}/episode_000091.mp4", "tasks": ["Tidy up food in freezer."], "length": 1443, "index": 161506, "action_config": [{"start_frame": 0, "end_frame": 334, "action_text": "open the freezer door", "skill": "Open", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 334, "end_frame": 594, "action_text": "place the white packaged goods", "skill": "Strike", "language_memory": "The freezer door has been opened."}, {"start_frame": 594, "end_frame": 957, "action_text": "move to the yellow packaged goods", "skill": "Navigate", "language_memory": "The robot has opened the freezer door and placed the white packaged goods inside."}, {"start_frame": 957, "end_frame": 1302, "action_text": "close the freezer door", "skill": "Close", "language_memory": "The robot opened the freezer door, placed white packaged goods inside, and moved toward the yellow packaged goods."}], "detailed_task_instruction": ["Open the freezer door, then place the white packaged goods inside. Next, move the yellow packaged goods to their proper location within the freezer. Finally, close the freezer door to complete the tidying process."]}
{"task_id": "tidy_up_food_in_freezer", "episode_index": 92, "video_path": "tidy_up_food_in_freezer/videos/chunk-000/{video_key}/episode_000092.mp4", "tasks": ["Tidy up food in freezer."], "length": 1330, "index": 162949, "action_config": [{"start_frame": 0, "end_frame": 348, "action_text": "open the freezer door", "skill": "Open", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 348, "end_frame": 648, "action_text": "place the white packaged goods", "skill": "Strike", "language_memory": "The freezer door has been opened."}, {"start_frame": 648, "end_frame": 895, "action_text": "move to the yellow packaged goods", "skill": "Navigate", "language_memory": "The robot has opened the freezer door and placed the white packaged goods inside."}, {"start_frame": 895, "end_frame": 1283, "action_text": "close the freezer door", "skill": "Close", "language_memory": "The robot opened the freezer door, placed white packaged goods inside, and moved toward the yellow packaged goods."}], "detailed_task_instruction": ["Open the freezer door, then place the white packaged goods inside. Next, move the yellow packaged goods to their proper location within the freezer. Finally, close the freezer door to complete the tidying process."]}
{"task_id": "tidy_up_food_in_freezer", "episode_index": 93, "video_path": "tidy_up_food_in_freezer/videos/chunk-000/{video_key}/episode_000093.mp4", "tasks": ["Tidy up food in freezer."], "length": 1480, "index": 164279, "action_config": [{"start_frame": 0, "end_frame": 321, "action_text": "open the freezer door", "skill": "Open", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 321, "end_frame": 594, "action_text": "place the white packaged goods", "skill": "Strike", "language_memory": "The freezer door has been opened."}, {"start_frame": 594, "end_frame": 980, "action_text": "move to the yellow packaged goods", "skill": "Navigate", "language_memory": "The robot has opened the freezer door and placed the white packaged goods inside."}, {"start_frame": 980, "end_frame": 1388, "action_text": "close the freezer door", "skill": "Close", "language_memory": "The robot opened the freezer door, placed white packaged goods inside, and moved toward the yellow packaged goods."}], "detailed_task_instruction": ["Open the freezer door, then place the white packaged goods inside. Next, move the yellow packaged goods to their proper location within the freezer. Finally, close the freezer door to complete the tidying process."]}
{"task_id": "tidy_up_food_in_freezer", "episode_index": 94, "video_path": "tidy_up_food_in_freezer/videos/chunk-000/{video_key}/episode_000094.mp4", "tasks": ["Tidy up food in freezer."], "length": 1608, "index": 165759, "action_config": [{"start_frame": 0, "end_frame": 345, "action_text": "open the freezer door", "skill": "Open", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 345, "end_frame": 705, "action_text": "place the white packaged goods", "skill": "Strike", "language_memory": "The freezer door has been opened."}, {"start_frame": 705, "end_frame": 1115, "action_text": "move to the yellow packaged goods", "skill": "Navigate", "language_memory": "The robot has opened the freezer door and placed the white packaged goods inside."}, {"start_frame": 1115, "end_frame": 1473, "action_text": "close the freezer door", "skill": "Close", "language_memory": "The robot opened the freezer door, placed white packaged goods inside, and moved toward the yellow packaged goods."}], "detailed_task_instruction": ["Open the freezer door, then place the white packaged goods inside. Next, move the yellow packaged goods to their proper location within the freezer. Finally, close the freezer door to complete the tidying process."]}
{"task_id": "tidy_up_food_in_freezer", "episode_index": 95, "video_path": "tidy_up_food_in_freezer/videos/chunk-000/{video_key}/episode_000095.mp4", "tasks": ["Tidy up food in freezer."], "length": 1913, "index": 167367, "action_config": [{"start_frame": 0, "end_frame": 390, "action_text": "open the freezer door", "skill": "Open", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 390, "end_frame": 741, "action_text": "place the white packaged goods", "skill": "Strike", "language_memory": "The freezer door has been opened."}, {"start_frame": 741, "end_frame": 1275, "action_text": "move to the yellow packaged goods", "skill": "Navigate", "language_memory": "The robot has opened the freezer door and placed the white packaged goods inside."}, {"start_frame": 1275, "end_frame": 1737, "action_text": "close the freezer door", "skill": "Close", "language_memory": "The robot opened the freezer door, placed white packaged goods inside, and moved toward the yellow packaged goods."}], "detailed_task_instruction": ["Open the freezer door, then place the white packaged goods inside. Next, move the yellow packaged goods to their proper location within the freezer. Finally, close the freezer door to complete the tidying process."]}
{"task_id": "tidy_up_food_in_freezer", "episode_index": 96, "video_path": "tidy_up_food_in_freezer/videos/chunk-000/{video_key}/episode_000096.mp4", "tasks": ["Tidy up food in freezer."], "length": 1730, "index": 169280, "action_config": [{"start_frame": 0, "end_frame": 470, "action_text": "open the freezer door", "skill": "Open", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 470, "end_frame": 891, "action_text": "place the white packaged goods", "skill": "Strike", "language_memory": "The freezer door has been opened."}, {"start_frame": 891, "end_frame": 1218, "action_text": "move to the yellow packaged goods", "skill": "Navigate", "language_memory": "The robot has opened the freezer door and placed the white packaged goods inside."}, {"start_frame": 1218, "end_frame": 1589, "action_text": "close the freezer door", "skill": "Close", "language_memory": "The robot opened the freezer door, placed white packaged goods inside, and moved toward the yellow packaged goods."}], "detailed_task_instruction": ["Open the freezer door, then place the white packaged goods inside. Next, move the yellow packaged goods to their proper location within the freezer. Finally, close the freezer door to complete the tidying process."]}
{"task_id": "tidy_up_food_in_freezer", "episode_index": 97, "video_path": "tidy_up_food_in_freezer/videos/chunk-000/{video_key}/episode_000097.mp4", "tasks": ["Tidy up food in freezer."], "length": 1102, "index": 171010, "action_config": [{"start_frame": 0, "end_frame": 314, "action_text": "open the freezer door", "skill": "Open", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 314, "end_frame": 585, "action_text": "place the white packaged goods", "skill": "Strike", "language_memory": "The freezer door has been opened."}, {"start_frame": 585, "end_frame": 816, "action_text": "move to the yellow packaged goods", "skill": "Navigate", "language_memory": "The robot has opened the freezer door and placed the white packaged goods inside."}, {"start_frame": 816, "end_frame": 1071, "action_text": "close the freezer door", "skill": "Close", "language_memory": "The robot opened the freezer door, placed white packaged goods inside, and moved toward the yellow packaged goods."}], "detailed_task_instruction": ["Open the freezer door, then place the white packaged goods inside. Next, move the yellow packaged goods to their proper location within the freezer. Finally, close the freezer door to complete the tidying process."]}
{"task_id": "tidy_up_food_in_freezer", "episode_index": 98, "video_path": "tidy_up_food_in_freezer/videos/chunk-000/{video_key}/episode_000098.mp4", "tasks": ["Tidy up food in freezer."], "length": 1920, "index": 172112, "action_config": [{"start_frame": 0, "end_frame": 480, "action_text": "open the freezer door", "skill": "Open", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 480, "end_frame": 881, "action_text": "place the white packaged goods", "skill": "Strike", "language_memory": "The freezer door has been opened."}, {"start_frame": 881, "end_frame": 1311, "action_text": "move to the yellow packaged goods", "skill": "Navigate", "language_memory": "The robot has opened the freezer door and placed the white packaged goods inside."}, {"start_frame": 1311, "end_frame": 1785, "action_text": "close the freezer door", "skill": "Close", "language_memory": "The robot opened the freezer door, placed white packaged goods inside, and moved toward the yellow packaged goods."}], "detailed_task_instruction": ["Open the freezer door, then place the white packaged goods inside. Next, move the yellow packaged goods to their proper location within the freezer. Finally, close the freezer door to complete the tidying process."]}
{"task_id": "tidy_up_food_in_freezer", "episode_index": 99, "video_path": "tidy_up_food_in_freezer/videos/chunk-000/{video_key}/episode_000099.mp4", "tasks": ["Tidy up food in freezer."], "length": 1511, "index": 174032, "action_config": [{"start_frame": 42, "end_frame": 353, "action_text": "open the freezer door", "skill": "Open", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 353, "end_frame": 786, "action_text": "place the white packaged goods", "skill": "Strike", "language_memory": "The freezer door has been opened."}, {"start_frame": 786, "end_frame": 1124, "action_text": "move to the yellow packaged goods", "skill": "Navigate", "language_memory": "The robot has opened the freezer door and placed the white packaged goods inside."}, {"start_frame": 1124, "end_frame": 1478, "action_text": "close the freezer door", "skill": "Close", "language_memory": "The robot opened the freezer door, placed white packaged goods inside, and moved toward the yellow packaged goods."}], "detailed_task_instruction": ["Open the freezer door, then place the white packaged goods inside. Next, move the yellow packaged goods to their proper location within the freezer. Finally, close the freezer door to complete the tidying process."]}
{"task_id": "tidy_up_food_in_freezer", "episode_index": 100, "video_path": "tidy_up_food_in_freezer/videos/chunk-000/{video_key}/episode_000100.mp4", "tasks": ["Tidy up food in freezer."], "length": 1521, "index": 175543, "action_config": [{"start_frame": 0, "end_frame": 339, "action_text": "open the freezer door", "skill": "Open", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 339, "end_frame": 738, "action_text": "place the white packaged goods", "skill": "Strike", "language_memory": "The freezer door has been opened."}, {"start_frame": 738, "end_frame": 1074, "action_text": "move to the yellow packaged goods", "skill": "Navigate", "language_memory": "The robot has opened the freezer door and placed the white packaged goods inside."}, {"start_frame": 1074, "end_frame": 1397, "action_text": "close the freezer door", "skill": "Close", "language_memory": "The robot opened the freezer door, placed white packaged goods inside, and moved toward the yellow packaged goods."}], "detailed_task_instruction": ["Open the freezer door, then place the white packaged goods inside. Next, move the yellow packaged goods to their proper location within the freezer. Finally, close the freezer door to complete the tidying process."]}
{"task_id": "tidy_up_food_in_freezer", "episode_index": 101, "video_path": "tidy_up_food_in_freezer/videos/chunk-000/{video_key}/episode_000101.mp4", "tasks": ["Tidy up food in freezer."], "length": 1430, "index": 177064, "action_config": [{"start_frame": 0, "end_frame": 381, "action_text": "open the freezer door", "skill": "Open", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 381, "end_frame": 690, "action_text": "place the white packaged goods", "skill": "Strike", "language_memory": "The freezer door has been opened."}, {"start_frame": 690, "end_frame": 1038, "action_text": "move to the yellow packaged goods", "skill": "Navigate", "language_memory": "The robot has opened the freezer door and placed the white packaged goods inside."}, {"start_frame": 1038, "end_frame": 1402, "action_text": "close the freezer door", "skill": "Close", "language_memory": "The robot opened the freezer door, placed white packaged goods inside, and moved toward the yellow packaged goods."}], "detailed_task_instruction": ["Open the freezer door, then place the white packaged goods inside. Next, move the yellow packaged goods to their proper location within the freezer. Finally, close the freezer door to complete the tidying process."]}
{"task_id": "tidy_up_food_in_freezer", "episode_index": 102, "video_path": "tidy_up_food_in_freezer/videos/chunk-000/{video_key}/episode_000102.mp4", "tasks": ["Tidy up food in freezer."], "length": 1462, "index": 178494, "action_config": [{"start_frame": 0, "end_frame": 373, "action_text": "open the freezer door", "skill": "Open", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 373, "end_frame": 651, "action_text": "place the white packaged goods", "skill": "Strike", "language_memory": "The freezer door has been opened."}, {"start_frame": 651, "end_frame": 1026, "action_text": "move to the yellow packaged goods", "skill": "Navigate", "language_memory": "The robot has opened the freezer door and placed the white packaged goods inside."}, {"start_frame": 1026, "end_frame": 1429, "action_text": "close the freezer door", "skill": "Close", "language_memory": "The robot opened the freezer door, placed white packaged goods inside, and moved toward the yellow packaged goods."}], "detailed_task_instruction": ["Open the freezer door, then place the white packaged goods inside. Next, move the yellow packaged goods to their proper location within the freezer. Finally, close the freezer door to complete the tidying process."]}
{"task_id": "tidy_up_food_in_freezer", "episode_index": 103, "video_path": "tidy_up_food_in_freezer/videos/chunk-000/{video_key}/episode_000103.mp4", "tasks": ["Tidy up food in freezer."], "length": 1557, "index": 179956, "action_config": [{"start_frame": 23, "end_frame": 398, "action_text": "open the freezer door", "skill": "Open", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 398, "end_frame": 729, "action_text": "place the white packaged goods", "skill": "Strike", "language_memory": "The freezer door has been opened."}, {"start_frame": 729, "end_frame": 1079, "action_text": "move to the yellow packaged goods", "skill": "Navigate", "language_memory": "The robot has opened the freezer door and placed the white packaged goods inside."}, {"start_frame": 1079, "end_frame": 1508, "action_text": "close the freezer door", "skill": "Close", "language_memory": "The robot opened the freezer door, placed white packaged goods inside, and moved toward the yellow packaged goods."}], "detailed_task_instruction": ["Open the freezer door, then place the white packaged goods inside. Next, move the yellow packaged goods to their proper location within the freezer. Finally, close the freezer door to complete the tidying process."]}
{"task_id": "tidy_up_food_in_freezer", "episode_index": 104, "video_path": "tidy_up_food_in_freezer/videos/chunk-000/{video_key}/episode_000104.mp4", "tasks": ["Tidy up food in freezer."], "length": 1929, "index": 181513, "action_config": [{"start_frame": 0, "end_frame": 624, "action_text": "open the freezer door", "skill": "Open", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 624, "end_frame": 1090, "action_text": "place the white packaged goods", "skill": "Strike", "language_memory": "The freezer door has been opened."}, {"start_frame": 1090, "end_frame": 1447, "action_text": "move to the yellow packaged goods", "skill": "Navigate", "language_memory": "The robot has opened the freezer door and placed the white packaged goods inside."}, {"start_frame": 1447, "end_frame": 1894, "action_text": "close the freezer door", "skill": "Close", "language_memory": "The robot opened the freezer door, placed white packaged goods inside, and moved toward the yellow packaged goods."}], "detailed_task_instruction": ["Open the freezer door, then place the white packaged goods inside. Next, move the yellow packaged goods to their proper location within the freezer. Finally, close the freezer door to complete the tidying process."]}
{"task_id": "tidy_up_food_in_freezer", "episode_index": 105, "video_path": "tidy_up_food_in_freezer/videos/chunk-000/{video_key}/episode_000105.mp4", "tasks": ["Tidy up food in freezer."], "length": 1702, "index": 183442, "action_config": [{"start_frame": 0, "end_frame": 442, "action_text": "open the freezer door", "skill": "Open", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 442, "end_frame": 840, "action_text": "place the white packaged goods", "skill": "Strike", "language_memory": "The freezer door has been opened."}, {"start_frame": 840, "end_frame": 1258, "action_text": "move to the yellow packaged goods", "skill": "Navigate", "language_memory": "The robot has opened the freezer door and placed the white packaged goods inside."}, {"start_frame": 1258, "end_frame": 1668, "action_text": "close the freezer door", "skill": "Close", "language_memory": "The robot opened the freezer door, placed white packaged goods inside, and moved toward the yellow packaged goods."}], "detailed_task_instruction": ["Open the freezer door, then place the white packaged goods inside. Next, move the yellow packaged goods to their proper location within the freezer. Finally, close the freezer door to complete the tidying process."]}
{"task_id": "tidy_up_food_in_freezer", "episode_index": 106, "video_path": "tidy_up_food_in_freezer/videos/chunk-000/{video_key}/episode_000106.mp4", "tasks": ["Tidy up food in freezer."], "length": 1693, "index": 185144, "action_config": [{"start_frame": 0, "end_frame": 403, "action_text": "open the freezer door", "skill": "Open", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 403, "end_frame": 784, "action_text": "place the white packaged goods", "skill": "Strike", "language_memory": "The freezer door has been opened."}, {"start_frame": 784, "end_frame": 1194, "action_text": "move to the yellow packaged goods", "skill": "Navigate", "language_memory": "The robot has opened the freezer door and placed the white packaged goods inside."}, {"start_frame": 1194, "end_frame": 1677, "action_text": "close the freezer door", "skill": "Close", "language_memory": "The robot opened the freezer door, placed white packaged goods inside, and moved toward the yellow packaged goods."}], "detailed_task_instruction": ["Open the freezer door, then place the white packaged goods inside. Next, move the yellow packaged goods to their proper location within the freezer. Finally, close the freezer door to complete the tidying process."]}
{"task_id": "tidy_up_food_in_freezer", "episode_index": 107, "video_path": "tidy_up_food_in_freezer/videos/chunk-000/{video_key}/episode_000107.mp4", "tasks": ["Tidy up food in freezer."], "length": 1554, "index": 186837, "action_config": [{"start_frame": 0, "end_frame": 444, "action_text": "open the freezer door", "skill": "Open", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 444, "end_frame": 800, "action_text": "place the white packaged goods", "skill": "Strike", "language_memory": "The freezer door has been opened."}, {"start_frame": 800, "end_frame": 1068, "action_text": "move to the yellow packaged goods", "skill": "Navigate", "language_memory": "The robot has opened the freezer door and placed the white packaged goods inside."}, {"start_frame": 1068, "end_frame": 1509, "action_text": "close the freezer door", "skill": "Close", "language_memory": "The robot opened the freezer door, placed white packaged goods inside, and moved toward the yellow packaged goods."}], "detailed_task_instruction": ["Open the freezer door, then place the white packaged goods inside. Next, move the yellow packaged goods to their proper location within the freezer. Finally, close the freezer door to complete the tidying process."]}
{"task_id": "tidy_up_food_in_freezer", "episode_index": 108, "video_path": "tidy_up_food_in_freezer/videos/chunk-000/{video_key}/episode_000108.mp4", "tasks": ["Tidy up food in freezer."], "length": 1532, "index": 188391, "action_config": [{"start_frame": 0, "end_frame": 334, "action_text": "open the freezer door", "skill": "Open", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 334, "end_frame": 639, "action_text": "place the white packaged goods", "skill": "Strike", "language_memory": "The freezer door has been opened."}, {"start_frame": 639, "end_frame": 1071, "action_text": "move to the yellow packaged goods", "skill": "Navigate", "language_memory": "The robot has opened the freezer door and placed the white packaged goods inside."}, {"start_frame": 1071, "end_frame": 1509, "action_text": "close the freezer door", "skill": "Close", "language_memory": "The robot opened the freezer door, placed white packaged goods inside, and moved toward the yellow packaged goods."}], "detailed_task_instruction": ["Open the freezer door, then place the white packaged goods inside. Next, move the yellow packaged goods to their proper location within the freezer. Finally, close the freezer door to complete the tidying process."]}
{"task_id": "tidy_up_food_in_freezer", "episode_index": 109, "video_path": "tidy_up_food_in_freezer/videos/chunk-000/{video_key}/episode_000109.mp4", "tasks": ["Tidy up food in freezer."], "length": 1921, "index": 189923, "action_config": [{"start_frame": 0, "end_frame": 510, "action_text": "open the freezer door", "skill": "Open", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 510, "end_frame": 1015, "action_text": "place the white packaged goods", "skill": "Strike", "language_memory": "The freezer door has been opened."}, {"start_frame": 1015, "end_frame": 1429, "action_text": "move to the yellow packaged goods", "skill": "Navigate", "language_memory": "The robot has opened the freezer door and placed the white packaged goods inside."}, {"start_frame": 1429, "end_frame": 1897, "action_text": "close the freezer door", "skill": "Close", "language_memory": "The robot opened the freezer door, placed white packaged goods inside, and moved toward the yellow packaged goods."}], "detailed_task_instruction": ["Open the freezer door, then place the white packaged goods inside. Next, move the yellow packaged goods to their proper location within the freezer. Finally, close the freezer door to complete the tidying process."]}
{"task_id": "tidy_up_food_in_freezer", "episode_index": 110, "video_path": "tidy_up_food_in_freezer/videos/chunk-000/{video_key}/episode_000110.mp4", "tasks": ["Tidy up food in freezer."], "length": 1496, "index": 191844, "action_config": [{"start_frame": 0, "end_frame": 436, "action_text": "open the freezer door", "skill": "Open", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 436, "end_frame": 801, "action_text": "place the white packaged goods", "skill": "Strike", "language_memory": "The freezer door has been opened."}, {"start_frame": 801, "end_frame": 1095, "action_text": "move to the yellow packaged goods", "skill": "Navigate", "language_memory": "The robot has opened the freezer door and placed the white packaged goods inside."}, {"start_frame": 1095, "end_frame": 1470, "action_text": "close the freezer door", "skill": "Close", "language_memory": "The robot opened the freezer door, placed white packaged goods inside, and moved toward the yellow packaged goods."}], "detailed_task_instruction": ["Open the freezer door, then place the white packaged goods inside. Next, move the yellow packaged goods to their proper location within the freezer. Finally, close the freezer door to complete the tidying process."]}
{"task_id": "tidy_up_food_in_freezer", "episode_index": 111, "video_path": "tidy_up_food_in_freezer/videos/chunk-000/{video_key}/episode_000111.mp4", "tasks": ["Tidy up food in freezer."], "length": 2762, "index": 193340, "action_config": [{"start_frame": 0, "end_frame": 831, "action_text": "open the freezer door", "skill": "Open", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 831, "end_frame": 1441, "action_text": "place the white packaged goods", "skill": "Strike", "language_memory": "The freezer door has been opened."}, {"start_frame": 1441, "end_frame": 2197, "action_text": "move to the yellow packaged goods", "skill": "Navigate", "language_memory": "The robot has opened the freezer door and placed the white packaged goods inside."}, {"start_frame": 2197, "end_frame": 2709, "action_text": "close the freezer door", "skill": "Close", "language_memory": "The robot opened the freezer door, placed white packaged goods inside, and moved toward the yellow packaged goods."}], "detailed_task_instruction": ["Open the freezer door, then place the white packaged goods inside. Next, move the yellow packaged goods to their proper location within the freezer. Finally, close the freezer door to complete the tidying process."]}
{"task_id": "tidy_up_food_in_freezer", "episode_index": 112, "video_path": "tidy_up_food_in_freezer/videos/chunk-000/{video_key}/episode_000112.mp4", "tasks": ["Tidy up food in freezer."], "length": 1915, "index": 196102, "action_config": [{"start_frame": 35, "end_frame": 506, "action_text": "open the freezer door", "skill": "Open", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 506, "end_frame": 879, "action_text": "place the white packaged goods", "skill": "Strike", "language_memory": "The freezer door has been opened."}, {"start_frame": 879, "end_frame": 1352, "action_text": "move to the yellow packaged goods", "skill": "Navigate", "language_memory": "The robot has opened the freezer door and placed the white packaged goods inside."}, {"start_frame": 1352, "end_frame": 1845, "action_text": "close the freezer door", "skill": "Close", "language_memory": "The robot opened the freezer door, placed white packaged goods inside, and moved toward the yellow packaged goods."}], "detailed_task_instruction": ["Open the freezer door, then place the white packaged goods inside. Next, move the yellow packaged goods to their proper location within the freezer. Finally, close the freezer door to complete the tidying process."]}
{"task_id": "tidy_up_food_in_freezer", "episode_index": 113, "video_path": "tidy_up_food_in_freezer/videos/chunk-000/{video_key}/episode_000113.mp4", "tasks": ["Tidy up food in freezer."], "length": 1478, "index": 198017, "action_config": [{"start_frame": 0, "end_frame": 408, "action_text": "open the freezer door", "skill": "Open", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 408, "end_frame": 674, "action_text": "place the white packaged goods", "skill": "Strike", "language_memory": "The freezer door has been opened."}, {"start_frame": 674, "end_frame": 972, "action_text": "move to the yellow packaged goods", "skill": "Navigate", "language_memory": "The robot has opened the freezer door and placed the white packaged goods inside."}, {"start_frame": 972, "end_frame": 1429, "action_text": "close the freezer door", "skill": "Close", "language_memory": "The robot opened the freezer door, placed white packaged goods inside, and moved toward the yellow packaged goods."}], "detailed_task_instruction": ["Open the freezer door, then place the white packaged goods inside. Next, move the yellow packaged goods to their proper location within the freezer. Finally, close the freezer door to complete the tidying process."]}
{"task_id": "tidy_up_food_in_freezer", "episode_index": 114, "video_path": "tidy_up_food_in_freezer/videos/chunk-000/{video_key}/episode_000114.mp4", "tasks": ["Tidy up food in freezer."], "length": 1037, "index": 199495, "action_config": [{"start_frame": 0, "end_frame": 288, "action_text": "open the freezer door", "skill": "Open", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 288, "end_frame": 517, "action_text": "place the white packaged goods", "skill": "Strike", "language_memory": "The freezer door has been opened."}, {"start_frame": 517, "end_frame": 756, "action_text": "move to the yellow packaged goods", "skill": "Navigate", "language_memory": "The robot has opened the freezer door and placed the white packaged goods inside."}, {"start_frame": 756, "end_frame": 1023, "action_text": "close the freezer door", "skill": "Close", "language_memory": "The robot opened the freezer door, placed white packaged goods inside, and moved toward the yellow packaged goods."}], "detailed_task_instruction": ["Open the freezer door, then place the white packaged goods inside. Next, move the yellow packaged goods to their proper location within the freezer. Finally, close the freezer door to complete the tidying process."]}
{"task_id": "tidy_up_food_in_freezer", "episode_index": 115, "video_path": "tidy_up_food_in_freezer/videos/chunk-000/{video_key}/episode_000115.mp4", "tasks": ["Tidy up food in freezer."], "length": 1595, "index": 200532, "action_config": [{"start_frame": 0, "end_frame": 447, "action_text": "open the freezer door", "skill": "Open", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 447, "end_frame": 751, "action_text": "place the white packaged goods", "skill": "Strike", "language_memory": "The freezer door has been opened."}, {"start_frame": 751, "end_frame": 1078, "action_text": "move to the yellow packaged goods", "skill": "Navigate", "language_memory": "The robot has opened the freezer door and placed the white packaged goods inside."}, {"start_frame": 1078, "end_frame": 1576, "action_text": "close the freezer door", "skill": "Close", "language_memory": "The robot opened the freezer door, placed white packaged goods inside, and moved toward the yellow packaged goods."}], "detailed_task_instruction": ["Open the freezer door, then place the white packaged goods inside. Next, move the yellow packaged goods to their proper location within the freezer. Finally, close the freezer door to complete the tidying process."]}
{"task_id": "tidy_up_food_in_freezer", "episode_index": 116, "video_path": "tidy_up_food_in_freezer/videos/chunk-000/{video_key}/episode_000116.mp4", "tasks": ["Tidy up food in freezer."], "length": 1549, "index": 202127, "action_config": [{"start_frame": 0, "end_frame": 327, "action_text": "open the freezer door", "skill": "Open", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 327, "end_frame": 612, "action_text": "place the white packaged goods", "skill": "Strike", "language_memory": "The freezer door has been opened."}, {"start_frame": 612, "end_frame": 994, "action_text": "move to the yellow packaged goods", "skill": "Navigate", "language_memory": "The robot has opened the freezer door and placed the white packaged goods inside."}, {"start_frame": 994, "end_frame": 1354, "action_text": "close the freezer door", "skill": "Close", "language_memory": "The robot opened the freezer door, placed white packaged goods inside, and moved toward the yellow packaged goods."}], "detailed_task_instruction": ["Open the freezer door, then place the white packaged goods inside. Next, move the yellow packaged goods to their proper location within the freezer. Finally, close the freezer door to complete the tidying process."]}
{"task_id": "tidy_up_food_in_freezer", "episode_index": 117, "video_path": "tidy_up_food_in_freezer/videos/chunk-000/{video_key}/episode_000117.mp4", "tasks": ["Tidy up food in freezer."], "length": 1253, "index": 203676, "action_config": [{"start_frame": 0, "end_frame": 379, "action_text": "open the freezer door", "skill": "Open", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 379, "end_frame": 663, "action_text": "place the white packaged goods", "skill": "Strike", "language_memory": "The freezer door has been opened."}, {"start_frame": 663, "end_frame": 915, "action_text": "move to the yellow packaged goods", "skill": "Navigate", "language_memory": "The robot has opened the freezer door and placed the white packaged goods inside."}, {"start_frame": 915, "end_frame": 1215, "action_text": "close the freezer door", "skill": "Close", "language_memory": "The robot opened the freezer door, placed white packaged goods inside, and moved toward the yellow packaged goods."}], "detailed_task_instruction": ["Open the freezer door, then place the white packaged goods inside. Next, move the yellow packaged goods to their proper location within the freezer. Finally, close the freezer door to complete the tidying process."]}
{"task_id": "tidy_up_food_in_freezer", "episode_index": 118, "video_path": "tidy_up_food_in_freezer/videos/chunk-000/{video_key}/episode_000118.mp4", "tasks": ["Tidy up food in freezer."], "length": 1214, "index": 204929, "action_config": [{"start_frame": 0, "end_frame": 345, "action_text": "open the freezer door", "skill": "Open", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 345, "end_frame": 615, "action_text": "place the white packaged goods", "skill": "Strike", "language_memory": "The freezer door has been opened."}, {"start_frame": 615, "end_frame": 846, "action_text": "move to the yellow packaged goods", "skill": "Navigate", "language_memory": "The robot has opened the freezer door and placed the white packaged goods inside."}, {"start_frame": 846, "end_frame": 1179, "action_text": "close the freezer door", "skill": "Close", "language_memory": "The robot opened the freezer door, placed white packaged goods inside, and moved toward the yellow packaged goods."}], "detailed_task_instruction": ["Open the freezer door, then place the white packaged goods inside. Next, move the yellow packaged goods to their proper location within the freezer. Finally, close the freezer door to complete the tidying process."]}
{"task_id": "tidy_up_food_in_freezer", "episode_index": 119, "video_path": "tidy_up_food_in_freezer/videos/chunk-000/{video_key}/episode_000119.mp4", "tasks": ["Tidy up food in freezer."], "length": 1598, "index": 206143, "action_config": [{"start_frame": 0, "end_frame": 420, "action_text": "open the freezer door", "skill": "Open", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 420, "end_frame": 714, "action_text": "place the white packaged goods", "skill": "Strike", "language_memory": "The freezer door has been opened."}, {"start_frame": 714, "end_frame": 1080, "action_text": "move to the yellow packaged goods", "skill": "Navigate", "language_memory": "The robot has opened the freezer door and placed the white packaged goods inside."}, {"start_frame": 1080, "end_frame": 1503, "action_text": "close the freezer door", "skill": "Close", "language_memory": "The robot opened the freezer door, placed white packaged goods inside, and moved toward the yellow packaged goods."}], "detailed_task_instruction": ["Open the freezer door, then place the white packaged goods inside. Next, move the yellow packaged goods to their proper location within the freezer. Finally, close the freezer door to complete the tidying process."]}
{"task_id": "tidy_up_food_in_freezer", "episode_index": 120, "video_path": "tidy_up_food_in_freezer/videos/chunk-000/{video_key}/episode_000120.mp4", "tasks": ["Tidy up food in freezer."], "length": 1481, "index": 207741, "action_config": [{"start_frame": 0, "end_frame": 477, "action_text": "open the freezer door", "skill": "Open", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 477, "end_frame": 777, "action_text": "place the white packaged goods", "skill": "Strike", "language_memory": "The freezer door has been opened."}, {"start_frame": 777, "end_frame": 1063, "action_text": "move to the yellow packaged goods", "skill": "Navigate", "language_memory": "The robot has opened the freezer door and placed the white packaged goods inside."}, {"start_frame": 1063, "end_frame": 1455, "action_text": "close the freezer door", "skill": "Close", "language_memory": "The robot opened the freezer door, placed white packaged goods inside, and moved toward the yellow packaged goods."}], "detailed_task_instruction": ["Open the freezer door, then place the white packaged goods inside. Next, move the yellow packaged goods to their proper location within the freezer. Finally, close the freezer door to complete the tidying process."]}
{"task_id": "tidy_up_food_in_freezer", "episode_index": 121, "video_path": "tidy_up_food_in_freezer/videos/chunk-000/{video_key}/episode_000121.mp4", "tasks": ["Tidy up food in freezer."], "length": 1575, "index": 209222, "action_config": [{"start_frame": 0, "end_frame": 337, "action_text": "open the freezer door", "skill": "Open", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 337, "end_frame": 681, "action_text": "place the white packaged goods", "skill": "Strike", "language_memory": "The freezer door has been opened."}, {"start_frame": 681, "end_frame": 1038, "action_text": "move to the yellow packaged goods", "skill": "Navigate", "language_memory": "The robot has opened the freezer door and placed the white packaged goods inside."}, {"start_frame": 1038, "end_frame": 1539, "action_text": "close the freezer door", "skill": "Close", "language_memory": "The robot opened the freezer door, placed white packaged goods inside, and moved toward the yellow packaged goods."}], "detailed_task_instruction": ["Open the freezer door, then place the white packaged goods inside. Next, move the yellow packaged goods to their proper location within the freezer. Finally, close the freezer door to complete the tidying process."]}
{"task_id": "tidy_up_food_in_freezer", "episode_index": 122, "video_path": "tidy_up_food_in_freezer/videos/chunk-000/{video_key}/episode_000122.mp4", "tasks": ["Tidy up food in freezer."], "length": 1974, "index": 210797, "action_config": [{"start_frame": 0, "end_frame": 519, "action_text": "open the freezer door", "skill": "Open", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 519, "end_frame": 921, "action_text": "place the white packaged goods", "skill": "Strike", "language_memory": "The freezer door has been opened."}, {"start_frame": 921, "end_frame": 1422, "action_text": "move to the yellow packaged goods", "skill": "Navigate", "language_memory": "The robot has opened the freezer door and placed the white packaged goods inside."}, {"start_frame": 1422, "end_frame": 1954, "action_text": "close the freezer door", "skill": "Close", "language_memory": "The robot opened the freezer door, placed white packaged goods inside, and moved toward the yellow packaged goods."}], "detailed_task_instruction": ["Open the freezer door, then place the white packaged goods inside. Next, move the yellow packaged goods to their proper location within the freezer. Finally, close the freezer door to complete the tidying process."]}
{"task_id": "tidy_up_food_in_freezer", "episode_index": 123, "video_path": "tidy_up_food_in_freezer/videos/chunk-000/{video_key}/episode_000123.mp4", "tasks": ["Tidy up food in freezer."], "length": 1718, "index": 212771, "action_config": [{"start_frame": 0, "end_frame": 573, "action_text": "open the freezer door", "skill": "Open", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 573, "end_frame": 933, "action_text": "place the white packaged goods", "skill": "Strike", "language_memory": "The freezer door has been opened."}, {"start_frame": 933, "end_frame": 1313, "action_text": "move to the yellow packaged goods", "skill": "Navigate", "language_memory": "The robot has opened the freezer door and placed the white packaged goods inside."}, {"start_frame": 1313, "end_frame": 1696, "action_text": "close the freezer door", "skill": "Close", "language_memory": "The robot opened the freezer door, placed white packaged goods inside, and moved toward the yellow packaged goods."}], "detailed_task_instruction": ["Open the freezer door, then place the white packaged goods inside. Next, move the yellow packaged goods to their proper location within the freezer. Finally, close the freezer door to complete the tidying process."]}
{"task_id": "tidy_up_food_in_freezer", "episode_index": 124, "video_path": "tidy_up_food_in_freezer/videos/chunk-000/{video_key}/episode_000124.mp4", "tasks": ["Tidy up food in freezer."], "length": 1326, "index": 214489, "action_config": [{"start_frame": 23, "end_frame": 335, "action_text": "open the freezer door", "skill": "Open", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 335, "end_frame": 607, "action_text": "place the white packaged goods", "skill": "Strike", "language_memory": "The freezer door has been opened."}, {"start_frame": 607, "end_frame": 933, "action_text": "move to the yellow packaged goods", "skill": "Navigate", "language_memory": "The robot has opened the freezer door and placed the white packaged goods inside."}, {"start_frame": 933, "end_frame": 1287, "action_text": "close the freezer door", "skill": "Close", "language_memory": "The robot opened the freezer door, placed white packaged goods inside, and moved toward the yellow packaged goods."}], "detailed_task_instruction": ["Open the freezer door, then place the white packaged goods inside. Next, move the yellow packaged goods to their proper location within the freezer. Finally, close the freezer door to complete the tidying process."]}
{"task_id": "tidy_up_food_in_freezer", "episode_index": 125, "video_path": "tidy_up_food_in_freezer/videos/chunk-000/{video_key}/episode_000125.mp4", "tasks": ["Tidy up food in freezer."], "length": 1892, "index": 215815, "action_config": [{"start_frame": 0, "end_frame": 646, "action_text": "open the freezer door", "skill": "Open", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 646, "end_frame": 1068, "action_text": "place the white packaged goods", "skill": "Strike", "language_memory": "The freezer door has been opened."}, {"start_frame": 1068, "end_frame": 1428, "action_text": "move to the yellow packaged goods", "skill": "Navigate", "language_memory": "The robot has opened the freezer door and placed the white packaged goods inside."}, {"start_frame": 1428, "end_frame": 1861, "action_text": "close the freezer door", "skill": "Close", "language_memory": "The robot opened the freezer door, placed white packaged goods inside, and moved toward the yellow packaged goods."}], "detailed_task_instruction": ["Open the freezer door, then place the white packaged goods inside. Next, move the yellow packaged goods to their proper location within the freezer. Finally, close the freezer door to complete the tidying process."]}
{"task_id": "tidy_up_food_in_freezer", "episode_index": 126, "video_path": "tidy_up_food_in_freezer/videos/chunk-000/{video_key}/episode_000126.mp4", "tasks": ["Tidy up food in freezer."], "length": 2083, "index": 217707, "action_config": [{"start_frame": 0, "end_frame": 501, "action_text": "open the freezer door", "skill": "Open", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 501, "end_frame": 988, "action_text": "place the white packaged goods", "skill": "Strike", "language_memory": "The freezer door has been opened."}, {"start_frame": 988, "end_frame": 1437, "action_text": "move to the yellow packaged goods", "skill": "Navigate", "language_memory": "The robot has opened the freezer door and placed the white packaged goods inside."}, {"start_frame": 1437, "end_frame": 2037, "action_text": "close the freezer door", "skill": "Close", "language_memory": "The robot opened the freezer door, placed white packaged goods inside, and moved toward the yellow packaged goods."}], "detailed_task_instruction": ["Open the freezer door, then place the white packaged goods inside. Next, move the yellow packaged goods to their proper location within the freezer. Finally, close the freezer door to complete the tidying process."]}
{"task_id": "tidy_up_food_in_freezer", "episode_index": 127, "video_path": "tidy_up_food_in_freezer/videos/chunk-000/{video_key}/episode_000127.mp4", "tasks": ["Tidy up food in freezer."], "length": 2023, "index": 219790, "action_config": [{"start_frame": 0, "end_frame": 633, "action_text": "open the freezer door", "skill": "Open", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 633, "end_frame": 1078, "action_text": "place the white packaged goods", "skill": "Strike", "language_memory": "The freezer door has been opened."}, {"start_frame": 1078, "end_frame": 1591, "action_text": "move to the yellow packaged goods", "skill": "Navigate", "language_memory": "The robot has opened the freezer door and placed the white packaged goods inside."}, {"start_frame": 1591, "end_frame": 1984, "action_text": "close the freezer door", "skill": "Close", "language_memory": "The robot opened the freezer door, placed white packaged goods inside, and moved toward the yellow packaged goods."}], "detailed_task_instruction": ["Open the freezer door, then place the white packaged goods inside. Next, move the yellow packaged goods to their proper location within the freezer. Finally, close the freezer door to complete the tidying process."]}
{"task_id": "tidy_up_food_in_freezer", "episode_index": 128, "video_path": "tidy_up_food_in_freezer/videos/chunk-000/{video_key}/episode_000128.mp4", "tasks": ["Tidy up food in freezer."], "length": 1824, "index": 221813, "action_config": [{"start_frame": 0, "end_frame": 558, "action_text": "open the freezer door", "skill": "Open", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 558, "end_frame": 934, "action_text": "place the white packaged goods", "skill": "Strike", "language_memory": "The freezer door has been opened."}, {"start_frame": 934, "end_frame": 1311, "action_text": "move to the yellow packaged goods", "skill": "Navigate", "language_memory": "The robot has opened the freezer door and placed the white packaged goods inside."}, {"start_frame": 1311, "end_frame": 1794, "action_text": "close the freezer door", "skill": "Close", "language_memory": "The robot opened the freezer door, placed white packaged goods inside, and moved toward the yellow packaged goods."}], "detailed_task_instruction": ["Open the freezer door, then place the white packaged goods inside. Next, move the yellow packaged goods to their proper location within the freezer. Finally, close the freezer door to complete the tidying process."]}
{"task_id": "tidy_up_food_in_freezer", "episode_index": 129, "video_path": "tidy_up_food_in_freezer/videos/chunk-000/{video_key}/episode_000129.mp4", "tasks": ["Tidy up food in freezer."], "length": 1547, "index": 223637, "action_config": [{"start_frame": 0, "end_frame": 352, "action_text": "open the freezer door", "skill": "Open", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 352, "end_frame": 639, "action_text": "place the white packaged goods", "skill": "Strike", "language_memory": "The freezer door has been opened."}, {"start_frame": 639, "end_frame": 952, "action_text": "move to the yellow packaged goods", "skill": "Navigate", "language_memory": "The robot has opened the freezer door and placed the white packaged goods inside."}, {"start_frame": 952, "end_frame": 1509, "action_text": "close the freezer door", "skill": "Close", "language_memory": "The robot opened the freezer door, placed white packaged goods inside, and moved toward the yellow packaged goods."}], "detailed_task_instruction": ["Open the freezer door, then place the white packaged goods inside. Next, move the yellow packaged goods to their proper location within the freezer. Finally, close the freezer door to complete the tidying process."]}
{"task_id": "tidy_up_food_in_freezer", "episode_index": 130, "video_path": "tidy_up_food_in_freezer/videos/chunk-000/{video_key}/episode_000130.mp4", "tasks": ["Tidy up food in freezer."], "length": 1578, "index": 225184, "action_config": [{"start_frame": 0, "end_frame": 483, "action_text": "open the freezer door", "skill": "Open", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 483, "end_frame": 795, "action_text": "place the white packaged goods", "skill": "Strike", "language_memory": "The freezer door has been opened."}, {"start_frame": 795, "end_frame": 1083, "action_text": "move to the yellow packaged goods", "skill": "Navigate", "language_memory": "The robot has opened the freezer door and placed the white packaged goods inside."}, {"start_frame": 1083, "end_frame": 1545, "action_text": "close the freezer door", "skill": "Close", "language_memory": "The robot opened the freezer door, placed white packaged goods inside, and moved toward the yellow packaged goods."}], "detailed_task_instruction": ["Open the freezer door, then place the white packaged goods inside. Next, move the yellow packaged goods to their proper location within the freezer. Finally, close the freezer door to complete the tidying process."]}
{"task_id": "tidy_up_food_in_freezer", "episode_index": 131, "video_path": "tidy_up_food_in_freezer/videos/chunk-000/{video_key}/episode_000131.mp4", "tasks": ["Tidy up food in freezer."], "length": 1722, "index": 226762, "action_config": [{"start_frame": 0, "end_frame": 431, "action_text": "open the freezer door", "skill": "Open", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 431, "end_frame": 892, "action_text": "place the white packaged goods", "skill": "Strike", "language_memory": "The freezer door has been opened."}, {"start_frame": 892, "end_frame": 1257, "action_text": "move to the yellow packaged goods", "skill": "Navigate", "language_memory": "The robot has opened the freezer door and placed the white packaged goods inside."}, {"start_frame": 1257, "end_frame": 1677, "action_text": "close the freezer door", "skill": "Close", "language_memory": "The robot opened the freezer door, placed white packaged goods inside, and moved toward the yellow packaged goods."}], "detailed_task_instruction": ["Open the freezer door, then place the white packaged goods inside. Next, move the yellow packaged goods to their proper location within the freezer. Finally, close the freezer door to complete the tidying process."]}
{"task_id": "tidy_up_food_in_freezer", "episode_index": 132, "video_path": "tidy_up_food_in_freezer/videos/chunk-000/{video_key}/episode_000132.mp4", "tasks": ["Tidy up food in freezer."], "length": 1426, "index": 228484, "action_config": [{"start_frame": 0, "end_frame": 357, "action_text": "open the freezer door", "skill": "Open", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 357, "end_frame": 672, "action_text": "place the white packaged goods", "skill": "Strike", "language_memory": "The freezer door has been opened."}, {"start_frame": 672, "end_frame": 1074, "action_text": "move to the yellow packaged goods", "skill": "Navigate", "language_memory": "The robot has opened the freezer door and placed the white packaged goods inside."}, {"start_frame": 1074, "end_frame": 1387, "action_text": "close the freezer door", "skill": "Close", "language_memory": "The robot opened the freezer door, placed white packaged goods inside, and moved toward the yellow packaged goods."}], "detailed_task_instruction": ["Open the freezer door, then place the white packaged goods inside. Next, move the yellow packaged goods to their proper location within the freezer. Finally, close the freezer door to complete the tidying process."]}
{"task_id": "tidy_up_food_in_freezer", "episode_index": 133, "video_path": "tidy_up_food_in_freezer/videos/chunk-000/{video_key}/episode_000133.mp4", "tasks": ["Tidy up food in freezer."], "length": 1436, "index": 229910, "action_config": [{"start_frame": 0, "end_frame": 322, "action_text": "open the freezer door", "skill": "Open", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 322, "end_frame": 640, "action_text": "place the white packaged goods", "skill": "Strike", "language_memory": "The freezer door has been opened."}, {"start_frame": 640, "end_frame": 951, "action_text": "move to the yellow packaged goods", "skill": "Navigate", "language_memory": "The robot has opened the freezer door and placed the white packaged goods inside."}, {"start_frame": 951, "end_frame": 1390, "action_text": "close the freezer door", "skill": "Close", "language_memory": "The robot opened the freezer door, placed white packaged goods inside, and moved toward the yellow packaged goods."}], "detailed_task_instruction": ["Open the freezer door, then place the white packaged goods inside. Next, move the yellow packaged goods to their proper location within the freezer. Finally, close the freezer door to complete the tidying process."]}
{"task_id": "tidy_up_food_in_freezer", "episode_index": 134, "video_path": "tidy_up_food_in_freezer/videos/chunk-000/{video_key}/episode_000134.mp4", "tasks": ["Tidy up food in freezer."], "length": 2173, "index": 231346, "action_config": [{"start_frame": 0, "end_frame": 522, "action_text": "open the freezer door", "skill": "Open", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 522, "end_frame": 994, "action_text": "place the white packaged goods", "skill": "Strike", "language_memory": "The freezer door has been opened."}, {"start_frame": 994, "end_frame": 1515, "action_text": "move to the yellow packaged goods", "skill": "Navigate", "language_memory": "The robot has opened the freezer door and placed the white packaged goods inside."}, {"start_frame": 1515, "end_frame": 2143, "action_text": "close the freezer door", "skill": "Close", "language_memory": "The robot opened the freezer door, placed white packaged goods inside, and moved toward the yellow packaged goods."}], "detailed_task_instruction": ["Open the freezer door, then place the white packaged goods inside. Next, move the yellow packaged goods to their proper location within the freezer. Finally, close the freezer door to complete the tidying process."]}
{"task_id": "tidy_up_food_in_freezer", "episode_index": 135, "video_path": "tidy_up_food_in_freezer/videos/chunk-000/{video_key}/episode_000135.mp4", "tasks": ["Tidy up food in freezer."], "length": 1406, "index": 233519, "action_config": [{"start_frame": 0, "end_frame": 341, "action_text": "open the freezer door", "skill": "Open", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 341, "end_frame": 665, "action_text": "place the white packaged goods", "skill": "Strike", "language_memory": "The freezer door has been opened."}, {"start_frame": 665, "end_frame": 1016, "action_text": "move to the yellow packaged goods", "skill": "Navigate", "language_memory": "The robot has opened the freezer door and placed the white packaged goods inside."}, {"start_frame": 1016, "end_frame": 1308, "action_text": "close the freezer door", "skill": "Close", "language_memory": "The robot opened the freezer door, placed white packaged goods inside, and moved toward the yellow packaged goods."}], "detailed_task_instruction": ["Open the freezer door, then place the white packaged goods inside. Next, move the yellow packaged goods to their proper location within the freezer. Finally, close the freezer door to complete the tidying process."]}
{"task_id": "tidy_up_food_in_freezer", "episode_index": 136, "video_path": "tidy_up_food_in_freezer/videos/chunk-000/{video_key}/episode_000136.mp4", "tasks": ["Tidy up food in freezer."], "length": 1421, "index": 234925, "action_config": [{"start_frame": 0, "end_frame": 331, "action_text": "open the freezer door", "skill": "Open", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 331, "end_frame": 615, "action_text": "place the white packaged goods", "skill": "Strike", "language_memory": "The freezer door has been opened."}, {"start_frame": 615, "end_frame": 1007, "action_text": "move to the yellow packaged goods", "skill": "Navigate", "language_memory": "The robot has opened the freezer door and placed the white packaged goods inside."}, {"start_frame": 1007, "end_frame": 1380, "action_text": "close the freezer door", "skill": "Close", "language_memory": "The robot opened the freezer door, placed white packaged goods inside, and moved toward the yellow packaged goods."}], "detailed_task_instruction": ["Open the freezer door, then place the white packaged goods inside. Next, move the yellow packaged goods to their proper location within the freezer. Finally, close the freezer door to complete the tidying process."]}
{"task_id": "tidy_up_food_in_freezer", "episode_index": 137, "video_path": "tidy_up_food_in_freezer/videos/chunk-000/{video_key}/episode_000137.mp4", "tasks": ["Tidy up food in freezer."], "length": 1122, "index": 236346, "action_config": [{"start_frame": 0, "end_frame": 264, "action_text": "open the freezer door", "skill": "Open", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 264, "end_frame": 480, "action_text": "place the white packaged goods", "skill": "Strike", "language_memory": "The freezer door has been opened."}, {"start_frame": 480, "end_frame": 750, "action_text": "move to the yellow packaged goods", "skill": "Navigate", "language_memory": "The robot has opened the freezer door and placed the white packaged goods inside."}, {"start_frame": 750, "end_frame": 1098, "action_text": "close the freezer door", "skill": "Close", "language_memory": "The robot opened the freezer door, placed white packaged goods inside, and moved toward the yellow packaged goods."}], "detailed_task_instruction": ["Open the freezer door, then place the white packaged goods inside. Next, move the yellow packaged goods to their proper location within the freezer. Finally, close the freezer door to complete the tidying process."]}
{"task_id": "tidy_up_food_in_freezer", "episode_index": 138, "video_path": "tidy_up_food_in_freezer/videos/chunk-000/{video_key}/episode_000138.mp4", "tasks": ["Tidy up food in freezer."], "length": 1252, "index": 237468, "action_config": [{"start_frame": 0, "end_frame": 351, "action_text": "open the freezer door", "skill": "Open", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 351, "end_frame": 626, "action_text": "place the white packaged goods", "skill": "Strike", "language_memory": "The freezer door has been opened."}, {"start_frame": 626, "end_frame": 858, "action_text": "move to the yellow packaged goods", "skill": "Navigate", "language_memory": "The robot has opened the freezer door and placed the white packaged goods inside."}, {"start_frame": 858, "end_frame": 1210, "action_text": "close the freezer door", "skill": "Close", "language_memory": "The robot opened the freezer door, placed white packaged goods inside, and moved toward the yellow packaged goods."}], "detailed_task_instruction": ["Open the freezer door, then place the white packaged goods inside. Next, move the yellow packaged goods to their proper location within the freezer. Finally, close the freezer door to complete the tidying process."]}
{"task_id": "tidy_up_food_in_freezer", "episode_index": 139, "video_path": "tidy_up_food_in_freezer/videos/chunk-000/{video_key}/episode_000139.mp4", "tasks": ["Tidy up food in freezer."], "length": 1457, "index": 238720, "action_config": [{"start_frame": 0, "end_frame": 505, "action_text": "open the freezer door", "skill": "Open", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 505, "end_frame": 814, "action_text": "place the white packaged goods", "skill": "Strike", "language_memory": "The freezer door has been opened."}, {"start_frame": 814, "end_frame": 1078, "action_text": "move to the yellow packaged goods", "skill": "Navigate", "language_memory": "The robot has opened the freezer door and placed the white packaged goods inside."}, {"start_frame": 1078, "end_frame": 1422, "action_text": "close the freezer door", "skill": "Close", "language_memory": "The robot opened the freezer door, placed white packaged goods inside, and moved toward the yellow packaged goods."}], "detailed_task_instruction": ["Open the freezer door, then place the white packaged goods inside. Next, move the yellow packaged goods to their proper location within the freezer. Finally, close the freezer door to complete the tidying process."]}
{"task_id": "tidy_up_food_in_freezer", "episode_index": 140, "video_path": "tidy_up_food_in_freezer/videos/chunk-000/{video_key}/episode_000140.mp4", "tasks": ["Tidy up food in freezer."], "length": 1982, "index": 240177, "action_config": [{"start_frame": 0, "end_frame": 508, "action_text": "open the freezer door", "skill": "Open", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 508, "end_frame": 813, "action_text": "place the white packaged goods", "skill": "Strike", "language_memory": "The freezer door has been opened."}, {"start_frame": 813, "end_frame": 1476, "action_text": "move to the yellow packaged goods", "skill": "Navigate", "language_memory": "The robot has opened the freezer door and placed the white packaged goods inside."}, {"start_frame": 1476, "end_frame": 1941, "action_text": "close the freezer door", "skill": "Close", "language_memory": "The robot opened the freezer door, placed white packaged goods inside, and moved toward the yellow packaged goods."}], "detailed_task_instruction": ["Open the freezer door, then place the white packaged goods inside. Next, move the yellow packaged goods to their proper location within the freezer. Finally, close the freezer door to complete the tidying process."]}
{"task_id": "tidy_up_food_in_freezer", "episode_index": 141, "video_path": "tidy_up_food_in_freezer/videos/chunk-000/{video_key}/episode_000141.mp4", "tasks": ["Tidy up food in freezer."], "length": 2054, "index": 242159, "action_config": [{"start_frame": 0, "end_frame": 555, "action_text": "open the freezer door", "skill": "Open", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 555, "end_frame": 951, "action_text": "place the white packaged goods", "skill": "Strike", "language_memory": "The freezer door has been opened."}, {"start_frame": 951, "end_frame": 1427, "action_text": "move to the yellow packaged goods", "skill": "Navigate", "language_memory": "The robot has opened the freezer door and placed the white packaged goods inside."}, {"start_frame": 1427, "end_frame": 1890, "action_text": "close the freezer door", "skill": "Close", "language_memory": "The robot opened the freezer door, placed white packaged goods inside, and moved toward the yellow packaged goods."}], "detailed_task_instruction": ["Open the freezer door, then place the white packaged goods inside. Next, move the yellow packaged goods to their proper location within the freezer. Finally, close the freezer door to complete the tidying process."]}
{"task_id": "tidy_up_food_in_freezer", "episode_index": 142, "video_path": "tidy_up_food_in_freezer/videos/chunk-000/{video_key}/episode_000142.mp4", "tasks": ["Tidy up food in freezer."], "length": 1581, "index": 244213, "action_config": [{"start_frame": 0, "end_frame": 351, "action_text": "open the freezer door", "skill": "Open", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 351, "end_frame": 602, "action_text": "place the white packaged goods", "skill": "Strike", "language_memory": "The freezer door has been opened."}, {"start_frame": 602, "end_frame": 1059, "action_text": "move to the yellow packaged goods", "skill": "Navigate", "language_memory": "The robot has opened the freezer door and placed the white packaged goods inside."}, {"start_frame": 1059, "end_frame": 1457, "action_text": "close the freezer door", "skill": "Close", "language_memory": "The robot opened the freezer door, placed white packaged goods inside, and moved toward the yellow packaged goods."}], "detailed_task_instruction": ["Open the freezer door, then place the white packaged goods inside. Next, move the yellow packaged goods to their proper location within the freezer. Finally, close the freezer door to complete the tidying process."]}
{"task_id": "tidy_up_food_in_freezer", "episode_index": 143, "video_path": "tidy_up_food_in_freezer/videos/chunk-000/{video_key}/episode_000143.mp4", "tasks": ["Tidy up food in freezer."], "length": 1750, "index": 245794, "action_config": [{"start_frame": 0, "end_frame": 450, "action_text": "open the freezer door", "skill": "Open", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 450, "end_frame": 858, "action_text": "place the white packaged goods", "skill": "Strike", "language_memory": "The freezer door has been opened."}, {"start_frame": 858, "end_frame": 1238, "action_text": "move to the yellow packaged goods", "skill": "Navigate", "language_memory": "The robot has opened the freezer door and placed the white packaged goods inside."}, {"start_frame": 1238, "end_frame": 1611, "action_text": "close the freezer door", "skill": "Close", "language_memory": "The robot opened the freezer door, placed white packaged goods inside, and moved toward the yellow packaged goods."}], "detailed_task_instruction": ["Open the freezer door, then place the white packaged goods inside. Next, move the yellow packaged goods to their proper location within the freezer. Finally, close the freezer door to complete the tidying process."]}
{"task_id": "tidy_up_food_in_freezer", "episode_index": 144, "video_path": "tidy_up_food_in_freezer/videos/chunk-000/{video_key}/episode_000144.mp4", "tasks": ["Tidy up food in freezer."], "length": 1762, "index": 247544, "action_config": [{"start_frame": 0, "end_frame": 380, "action_text": "open the freezer door", "skill": "Open", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 380, "end_frame": 683, "action_text": "place the white packaged goods", "skill": "Strike", "language_memory": "The freezer door has been opened."}, {"start_frame": 683, "end_frame": 1221, "action_text": "move to the yellow packaged goods", "skill": "Navigate", "language_memory": "The robot has opened the freezer door and placed the white packaged goods inside."}, {"start_frame": 1221, "end_frame": 1619, "action_text": "close the freezer door", "skill": "Close", "language_memory": "The robot opened the freezer door, placed white packaged goods inside, and moved toward the yellow packaged goods."}], "detailed_task_instruction": ["Open the freezer door, then place the white packaged goods inside. Next, move the yellow packaged goods to their proper location within the freezer. Finally, close the freezer door to complete the tidying process."]}
{"task_id": "tidy_up_food_in_freezer", "episode_index": 145, "video_path": "tidy_up_food_in_freezer/videos/chunk-000/{video_key}/episode_000145.mp4", "tasks": ["Tidy up food in freezer."], "length": 1646, "index": 249306, "action_config": [{"start_frame": 0, "end_frame": 366, "action_text": "open the freezer door", "skill": "Open", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 366, "end_frame": 656, "action_text": "place the white packaged goods", "skill": "Strike", "language_memory": "The freezer door has been opened."}, {"start_frame": 656, "end_frame": 1134, "action_text": "move to the yellow packaged goods", "skill": "Navigate", "language_memory": "The robot has opened the freezer door and placed the white packaged goods inside."}, {"start_frame": 1134, "end_frame": 1528, "action_text": "close the freezer door", "skill": "Close", "language_memory": "The robot opened the freezer door, placed white packaged goods inside, and moved toward the yellow packaged goods."}], "detailed_task_instruction": ["Open the freezer door, then place the white packaged goods inside. Next, move the yellow packaged goods to their proper location within the freezer. Finally, close the freezer door to complete the tidying process."]}
{"task_id": "tidy_up_food_in_freezer", "episode_index": 146, "video_path": "tidy_up_food_in_freezer/videos/chunk-000/{video_key}/episode_000146.mp4", "tasks": ["Tidy up food in freezer."], "length": 1851, "index": 250952, "action_config": [{"start_frame": 0, "end_frame": 463, "action_text": "open the freezer door", "skill": "Open", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 463, "end_frame": 836, "action_text": "place the white packaged goods", "skill": "Strike", "language_memory": "The freezer door has been opened."}, {"start_frame": 836, "end_frame": 1304, "action_text": "move to the yellow packaged goods", "skill": "Navigate", "language_memory": "The robot has opened the freezer door and placed the white packaged goods inside."}, {"start_frame": 1304, "end_frame": 1712, "action_text": "close the freezer door", "skill": "Close", "language_memory": "The robot opened the freezer door, placed white packaged goods inside, and moved toward the yellow packaged goods."}], "detailed_task_instruction": ["Open the freezer door, then place the white packaged goods inside. Next, move the yellow packaged goods to their proper location within the freezer. Finally, close the freezer door to complete the tidying process."]}
{"task_id": "tidy_up_food_in_freezer", "episode_index": 147, "video_path": "tidy_up_food_in_freezer/videos/chunk-000/{video_key}/episode_000147.mp4", "tasks": ["Tidy up food in freezer."], "length": 1629, "index": 252803, "action_config": [{"start_frame": 0, "end_frame": 318, "action_text": "open the freezer door", "skill": "Open", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 318, "end_frame": 587, "action_text": "place the white packaged goods", "skill": "Strike", "language_memory": "The freezer door has been opened."}, {"start_frame": 587, "end_frame": 1092, "action_text": "move to the yellow packaged goods", "skill": "Navigate", "language_memory": "The robot has opened the freezer door and placed the white packaged goods inside."}, {"start_frame": 1092, "end_frame": 1548, "action_text": "close the freezer door", "skill": "Close", "language_memory": "The robot opened the freezer door, placed white packaged goods inside, and moved toward the yellow packaged goods."}], "detailed_task_instruction": ["Open the freezer door, then place the white packaged goods inside. Next, move the yellow packaged goods to their proper location within the freezer. Finally, close the freezer door to complete the tidying process."]}
{"task_id": "tidy_up_food_in_freezer", "episode_index": 148, "video_path": "tidy_up_food_in_freezer/videos/chunk-000/{video_key}/episode_000148.mp4", "tasks": ["Tidy up food in freezer."], "length": 1997, "index": 254432, "action_config": [{"start_frame": 0, "end_frame": 560, "action_text": "open the freezer door", "skill": "Open", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 560, "end_frame": 1095, "action_text": "place the white packaged goods", "skill": "Strike", "language_memory": "The freezer door has been opened."}, {"start_frame": 1095, "end_frame": 1557, "action_text": "move to the yellow packaged goods", "skill": "Navigate", "language_memory": "The robot has opened the freezer door and placed the white packaged goods inside."}, {"start_frame": 1557, "end_frame": 1898, "action_text": "close the freezer door", "skill": "Close", "language_memory": "The robot opened the freezer door, placed white packaged goods inside, and moved toward the yellow packaged goods."}], "detailed_task_instruction": ["Open the freezer door, then place the white packaged goods inside. Next, move the yellow packaged goods to their proper location within the freezer. Finally, close the freezer door to complete the tidying process."]}
{"task_id": "tidy_up_food_in_freezer", "episode_index": 149, "video_path": "tidy_up_food_in_freezer/videos/chunk-000/{video_key}/episode_000149.mp4", "tasks": ["Tidy up food in freezer."], "length": 1906, "index": 256429, "action_config": [{"start_frame": 0, "end_frame": 429, "action_text": "open the freezer door", "skill": "Open", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 429, "end_frame": 864, "action_text": "place the white packaged goods", "skill": "Strike", "language_memory": "The freezer door has been opened."}, {"start_frame": 864, "end_frame": 1320, "action_text": "move to the yellow packaged goods", "skill": "Navigate", "language_memory": "The robot has opened the freezer door and placed the white packaged goods inside."}, {"start_frame": 1320, "end_frame": 1773, "action_text": "close the freezer door", "skill": "Close", "language_memory": "The robot opened the freezer door, placed white packaged goods inside, and moved toward the yellow packaged goods."}], "detailed_task_instruction": ["Open the freezer door, then place the white packaged goods inside. Next, move the yellow packaged goods to their proper location within the freezer. Finally, close the freezer door to complete the tidying process."]}
{"task_id": "tidy_up_food_in_freezer", "episode_index": 150, "video_path": "tidy_up_food_in_freezer/videos/chunk-000/{video_key}/episode_000150.mp4", "tasks": ["Tidy up food in freezer."], "length": 1281, "index": 258335, "action_config": [{"start_frame": 0, "end_frame": 312, "action_text": "open the freezer door", "skill": "Open", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 312, "end_frame": 566, "action_text": "place the white packaged goods", "skill": "Strike", "language_memory": "The freezer door has been opened."}, {"start_frame": 566, "end_frame": 855, "action_text": "move to the yellow packaged goods", "skill": "Navigate", "language_memory": "The robot has opened the freezer door and placed the white packaged goods inside."}, {"start_frame": 855, "end_frame": 1182, "action_text": "close the freezer door", "skill": "Close", "language_memory": "The robot opened the freezer door, placed white packaged goods inside, and moved toward the yellow packaged goods."}], "detailed_task_instruction": ["Open the freezer door, then place the white packaged goods inside. Next, move the yellow packaged goods to their proper location within the freezer. Finally, close the freezer door to complete the tidying process."]}
{"task_id": "tidy_up_food_in_freezer", "episode_index": 151, "video_path": "tidy_up_food_in_freezer/videos/chunk-000/{video_key}/episode_000151.mp4", "tasks": ["Tidy up food in freezer."], "length": 1072, "index": 259616, "action_config": [{"start_frame": 0, "end_frame": 288, "action_text": "open the freezer door", "skill": "Open", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 288, "end_frame": 531, "action_text": "place the white packaged goods", "skill": "Strike", "language_memory": "The freezer door has been opened."}, {"start_frame": 531, "end_frame": 804, "action_text": "move to the yellow packaged goods", "skill": "Navigate", "language_memory": "The robot has opened the freezer door and placed the white packaged goods inside."}, {"start_frame": 804, "end_frame": 1072, "action_text": "close the freezer door", "skill": "Close", "language_memory": "The robot opened the freezer door, placed white packaged goods inside, and moved toward the yellow packaged goods."}], "detailed_task_instruction": ["Open the freezer door, then place the white packaged goods inside. Next, move the yellow packaged goods to their proper location within the freezer. Finally, close the freezer door to complete the tidying process."]}
{"task_id": "tidy_up_food_in_freezer", "episode_index": 152, "video_path": "tidy_up_food_in_freezer/videos/chunk-000/{video_key}/episode_000152.mp4", "tasks": ["Tidy up food in freezer."], "length": 1570, "index": 260688, "action_config": [{"start_frame": 0, "end_frame": 360, "action_text": "open the freezer door", "skill": "Open", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 360, "end_frame": 650, "action_text": "place the white packaged goods", "skill": "Strike", "language_memory": "The freezer door has been opened."}, {"start_frame": 650, "end_frame": 1079, "action_text": "move to the yellow packaged goods", "skill": "Navigate", "language_memory": "The robot has opened the freezer door and placed the white packaged goods inside."}, {"start_frame": 1079, "end_frame": 1460, "action_text": "close the freezer door", "skill": "Close", "language_memory": "The robot opened the freezer door, placed white packaged goods inside, and moved toward the yellow packaged goods."}], "detailed_task_instruction": ["Open the freezer door, then place the white packaged goods inside. Next, move the yellow packaged goods to their proper location within the freezer. Finally, close the freezer door to complete the tidying process."]}
{"task_id": "tidy_up_food_in_freezer", "episode_index": 153, "video_path": "tidy_up_food_in_freezer/videos/chunk-000/{video_key}/episode_000153.mp4", "tasks": ["Tidy up food in freezer."], "length": 1521, "index": 262258, "action_config": [{"start_frame": 0, "end_frame": 342, "action_text": "open the freezer door", "skill": "Open", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 342, "end_frame": 649, "action_text": "place the white packaged goods", "skill": "Strike", "language_memory": "The freezer door has been opened."}, {"start_frame": 649, "end_frame": 1148, "action_text": "move to the yellow packaged goods", "skill": "Navigate", "language_memory": "The robot has opened the freezer door and placed the white packaged goods inside."}, {"start_frame": 1148, "end_frame": 1455, "action_text": "close the freezer door", "skill": "Close", "language_memory": "The robot opened the freezer door, placed white packaged goods inside, and moved toward the yellow packaged goods."}], "detailed_task_instruction": ["Open the freezer door, then place the white packaged goods inside. Next, move the yellow packaged goods to their proper location within the freezer. Finally, close the freezer door to complete the tidying process."]}
{"task_id": "tidy_up_food_in_freezer", "episode_index": 154, "video_path": "tidy_up_food_in_freezer/videos/chunk-000/{video_key}/episode_000154.mp4", "tasks": ["Tidy up food in freezer."], "length": 2094, "index": 263779, "action_config": [{"start_frame": 0, "end_frame": 524, "action_text": "open the freezer door", "skill": "Open", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 524, "end_frame": 957, "action_text": "place the white packaged goods", "skill": "Strike", "language_memory": "The freezer door has been opened."}, {"start_frame": 957, "end_frame": 1524, "action_text": "move to the yellow packaged goods", "skill": "Navigate", "language_memory": "The robot has opened the freezer door and placed the white packaged goods inside."}, {"start_frame": 1524, "end_frame": 1940, "action_text": "close the freezer door", "skill": "Close", "language_memory": "The robot opened the freezer door, placed white packaged goods inside, and moved toward the yellow packaged goods."}], "detailed_task_instruction": ["Open the freezer door, then place the white packaged goods inside. Next, move the yellow packaged goods to their proper location within the freezer. Finally, close the freezer door to complete the tidying process."]}
{"task_id": "tidy_up_food_in_freezer", "episode_index": 155, "video_path": "tidy_up_food_in_freezer/videos/chunk-000/{video_key}/episode_000155.mp4", "tasks": ["Tidy up food in freezer."], "length": 1051, "index": 265873, "action_config": [{"start_frame": 0, "end_frame": 263, "action_text": "open the freezer door", "skill": "Open", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 263, "end_frame": 480, "action_text": "place the white packaged goods", "skill": "Strike", "language_memory": "The freezer door has been opened."}, {"start_frame": 480, "end_frame": 681, "action_text": "move to the yellow packaged goods", "skill": "Navigate", "language_memory": "The robot has opened the freezer door and placed the white packaged goods inside."}, {"start_frame": 681, "end_frame": 978, "action_text": "close the freezer door", "skill": "Close", "language_memory": "The robot opened the freezer door, placed white packaged goods inside, and moved toward the yellow packaged goods."}], "detailed_task_instruction": ["Open the freezer door, then place the white packaged goods inside. Next, move the yellow packaged goods to their proper location within the freezer. Finally, close the freezer door to complete the tidying process."]}
{"task_id": "tidy_up_food_in_freezer", "episode_index": 156, "video_path": "tidy_up_food_in_freezer/videos/chunk-000/{video_key}/episode_000156.mp4", "tasks": ["Tidy up food in freezer."], "length": 1723, "index": 266924, "action_config": [{"start_frame": 0, "end_frame": 450, "action_text": "open the freezer door", "skill": "Open", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 450, "end_frame": 801, "action_text": "place the white packaged goods", "skill": "Strike", "language_memory": "The freezer door has been opened."}, {"start_frame": 801, "end_frame": 1157, "action_text": "move to the yellow packaged goods", "skill": "Navigate", "language_memory": "The robot has opened the freezer door and placed the white packaged goods inside."}, {"start_frame": 1157, "end_frame": 1602, "action_text": "close the freezer door", "skill": "Close", "language_memory": "The robot opened the freezer door, placed white packaged goods inside, and moved toward the yellow packaged goods."}], "detailed_task_instruction": ["Open the freezer door, then place the white packaged goods inside. Next, move the yellow packaged goods to their proper location within the freezer. Finally, close the freezer door to complete the tidying process."]}
{"task_id": "tidy_up_food_in_freezer", "episode_index": 157, "video_path": "tidy_up_food_in_freezer/videos/chunk-000/{video_key}/episode_000157.mp4", "tasks": ["Tidy up food in freezer."], "length": 1489, "index": 268647, "action_config": [{"start_frame": 0, "end_frame": 339, "action_text": "open the freezer door", "skill": "Open", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 339, "end_frame": 704, "action_text": "place the white packaged goods", "skill": "Strike", "language_memory": "The freezer door has been opened."}, {"start_frame": 704, "end_frame": 1038, "action_text": "move to the yellow packaged goods", "skill": "Navigate", "language_memory": "The robot has opened the freezer door and placed the white packaged goods inside."}, {"start_frame": 1038, "end_frame": 1395, "action_text": "close the freezer door", "skill": "Close", "language_memory": "The robot opened the freezer door, placed white packaged goods inside, and moved toward the yellow packaged goods."}], "detailed_task_instruction": ["Open the freezer door, then place the white packaged goods inside. Next, move the yellow packaged goods to their proper location within the freezer. Finally, close the freezer door to complete the tidying process."]}
{"task_id": "tidy_up_food_in_freezer", "episode_index": 158, "video_path": "tidy_up_food_in_freezer/videos/chunk-000/{video_key}/episode_000158.mp4", "tasks": ["Tidy up food in freezer."], "length": 1487, "index": 270136, "action_config": [{"start_frame": 0, "end_frame": 347, "action_text": "open the freezer door", "skill": "Open", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 347, "end_frame": 653, "action_text": "place the white packaged goods", "skill": "Strike", "language_memory": "The freezer door has been opened."}, {"start_frame": 653, "end_frame": 1035, "action_text": "move to the yellow packaged goods", "skill": "Navigate", "language_memory": "The robot has opened the freezer door and placed the white packaged goods inside."}, {"start_frame": 1035, "end_frame": 1380, "action_text": "close the freezer door", "skill": "Close", "language_memory": "The robot opened the freezer door, placed white packaged goods inside, and moved toward the yellow packaged goods."}], "detailed_task_instruction": ["Open the freezer door, then place the white packaged goods inside. Next, move the yellow packaged goods to their proper location within the freezer. Finally, close the freezer door to complete the tidying process."]}
{"task_id": "tidy_up_food_in_freezer", "episode_index": 159, "video_path": "tidy_up_food_in_freezer/videos/chunk-000/{video_key}/episode_000159.mp4", "tasks": ["Tidy up food in freezer."], "length": 1187, "index": 271623, "action_config": [{"start_frame": 0, "end_frame": 321, "action_text": "open the freezer door", "skill": "Open", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 321, "end_frame": 600, "action_text": "place the white packaged goods", "skill": "Strike", "language_memory": "The freezer door has been opened."}, {"start_frame": 600, "end_frame": 834, "action_text": "move to the yellow packaged goods", "skill": "Navigate", "language_memory": "The robot has opened the freezer door and placed the white packaged goods inside."}, {"start_frame": 834, "end_frame": 1146, "action_text": "close the freezer door", "skill": "Close", "language_memory": "The robot opened the freezer door, placed white packaged goods inside, and moved toward the yellow packaged goods."}], "detailed_task_instruction": ["Open the freezer door, then place the white packaged goods inside. Next, move the yellow packaged goods to their proper location within the freezer. Finally, close the freezer door to complete the tidying process."]}
{"task_id": "tidy_up_food_in_freezer", "episode_index": 160, "video_path": "tidy_up_food_in_freezer/videos/chunk-000/{video_key}/episode_000160.mp4", "tasks": ["Tidy up food in freezer."], "length": 1836, "index": 272810, "action_config": [{"start_frame": 0, "end_frame": 405, "action_text": "open the freezer door", "skill": "Open", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 405, "end_frame": 884, "action_text": "place the white packaged goods", "skill": "Strike", "language_memory": "The freezer door has been opened."}, {"start_frame": 884, "end_frame": 1322, "action_text": "move to the yellow packaged goods", "skill": "Navigate", "language_memory": "The robot has opened the freezer door and placed the white packaged goods inside."}, {"start_frame": 1322, "end_frame": 1727, "action_text": "close the freezer door", "skill": "Close", "language_memory": "The robot opened the freezer door, placed white packaged goods inside, and moved toward the yellow packaged goods."}], "detailed_task_instruction": ["Open the freezer door, then place the white packaged goods inside. Next, move the yellow packaged goods to their proper location within the freezer. Finally, close the freezer door to complete the tidying process."]}
{"task_id": "tidy_up_food_in_freezer", "episode_index": 161, "video_path": "tidy_up_food_in_freezer/videos/chunk-000/{video_key}/episode_000161.mp4", "tasks": ["Tidy up food in freezer."], "length": 1771, "index": 274646, "action_config": [{"start_frame": 0, "end_frame": 417, "action_text": "open the freezer door", "skill": "Open", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 417, "end_frame": 824, "action_text": "place the white packaged goods", "skill": "Strike", "language_memory": "The freezer door has been opened."}, {"start_frame": 824, "end_frame": 1205, "action_text": "move to the yellow packaged goods", "skill": "Navigate", "language_memory": "The robot has opened the freezer door and placed the white packaged goods inside."}, {"start_frame": 1205, "end_frame": 1608, "action_text": "close the freezer door", "skill": "Close", "language_memory": "The robot opened the freezer door, placed white packaged goods inside, and moved toward the yellow packaged goods."}], "detailed_task_instruction": ["Open the freezer door, then place the white packaged goods inside. Next, move the yellow packaged goods to their proper location within the freezer. Finally, close the freezer door to complete the tidying process."]}
{"task_id": "tidy_up_food_in_freezer", "episode_index": 162, "video_path": "tidy_up_food_in_freezer/videos/chunk-000/{video_key}/episode_000162.mp4", "tasks": ["Tidy up food in freezer."], "length": 1705, "index": 276417, "action_config": [{"start_frame": 0, "end_frame": 427, "action_text": "open the freezer door", "skill": "Open", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 427, "end_frame": 759, "action_text": "place the white packaged goods", "skill": "Strike", "language_memory": "The freezer door has been opened."}, {"start_frame": 759, "end_frame": 1228, "action_text": "move to the yellow packaged goods", "skill": "Navigate", "language_memory": "The robot has opened the freezer door and placed the white packaged goods inside."}, {"start_frame": 1228, "end_frame": 1560, "action_text": "close the freezer door", "skill": "Close", "language_memory": "The robot opened the freezer door, placed white packaged goods inside, and moved toward the yellow packaged goods."}], "detailed_task_instruction": ["Open the freezer door, then place the white packaged goods inside. Next, move the yellow packaged goods to their proper location within the freezer. Finally, close the freezer door to complete the tidying process."]}
{"task_id": "tidy_up_food_in_freezer", "episode_index": 163, "video_path": "tidy_up_food_in_freezer/videos/chunk-000/{video_key}/episode_000163.mp4", "tasks": ["Tidy up food in freezer."], "length": 1570, "index": 278122, "action_config": [{"start_frame": 0, "end_frame": 345, "action_text": "open the freezer door", "skill": "Open", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 345, "end_frame": 699, "action_text": "place the white packaged goods", "skill": "Strike", "language_memory": "The freezer door has been opened."}, {"start_frame": 699, "end_frame": 1113, "action_text": "move to the yellow packaged goods", "skill": "Navigate", "language_memory": "The robot has opened the freezer door and placed the white packaged goods inside."}, {"start_frame": 1113, "end_frame": 1475, "action_text": "close the freezer door", "skill": "Close", "language_memory": "The robot opened the freezer door, placed white packaged goods inside, and moved toward the yellow packaged goods."}], "detailed_task_instruction": ["Open the freezer door, then place the white packaged goods inside. Next, move the yellow packaged goods to their proper location within the freezer. Finally, close the freezer door to complete the tidying process."]}
{"task_id": "tidy_up_food_in_freezer", "episode_index": 164, "video_path": "tidy_up_food_in_freezer/videos/chunk-000/{video_key}/episode_000164.mp4", "tasks": ["Tidy up food in freezer."], "length": 1825, "index": 279692, "action_config": [{"start_frame": 0, "end_frame": 384, "action_text": "open the freezer door", "skill": "Open", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 384, "end_frame": 758, "action_text": "place the white packaged goods", "skill": "Strike", "language_memory": "The freezer door has been opened."}, {"start_frame": 758, "end_frame": 1170, "action_text": "move to the yellow packaged goods", "skill": "Navigate", "language_memory": "The robot has opened the freezer door and placed the white packaged goods inside."}, {"start_frame": 1170, "end_frame": 1659, "action_text": "close the freezer door", "skill": "Close", "language_memory": "The robot opened the freezer door, placed white packaged goods inside, and moved toward the yellow packaged goods."}], "detailed_task_instruction": ["Open the freezer door, then place the white packaged goods inside. Next, move the yellow packaged goods to their proper location within the freezer. Finally, close the freezer door to complete the tidying process."]}
{"task_id": "tidy_up_food_in_freezer", "episode_index": 165, "video_path": "tidy_up_food_in_freezer/videos/chunk-000/{video_key}/episode_000165.mp4", "tasks": ["Tidy up food in freezer."], "length": 1721, "index": 281517, "action_config": [{"start_frame": 0, "end_frame": 368, "action_text": "open the freezer door", "skill": "Open", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 368, "end_frame": 684, "action_text": "place the white packaged goods", "skill": "Strike", "language_memory": "The freezer door has been opened."}, {"start_frame": 684, "end_frame": 1212, "action_text": "move to the yellow packaged goods", "skill": "Navigate", "language_memory": "The robot has opened the freezer door and placed the white packaged goods inside."}, {"start_frame": 1212, "end_frame": 1584, "action_text": "close the freezer door", "skill": "Close", "language_memory": "The robot opened the freezer door, placed white packaged goods inside, and moved toward the yellow packaged goods."}], "detailed_task_instruction": ["Open the freezer door, then place the white packaged goods inside. Next, move the yellow packaged goods to their proper location within the freezer. Finally, close the freezer door to complete the tidying process."]}
{"task_id": "tidy_up_food_in_freezer", "episode_index": 166, "video_path": "tidy_up_food_in_freezer/videos/chunk-000/{video_key}/episode_000166.mp4", "tasks": ["Tidy up food in freezer."], "length": 1583, "index": 283238, "action_config": [{"start_frame": 0, "end_frame": 348, "action_text": "open the freezer door", "skill": "Open", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 348, "end_frame": 710, "action_text": "place the white packaged goods", "skill": "Strike", "language_memory": "The freezer door has been opened."}, {"start_frame": 710, "end_frame": 1107, "action_text": "move to the yellow packaged goods", "skill": "Navigate", "language_memory": "The robot has opened the freezer door and placed the white packaged goods inside."}, {"start_frame": 1107, "end_frame": 1490, "action_text": "close the freezer door", "skill": "Close", "language_memory": "The robot opened the freezer door, placed white packaged goods inside, and moved toward the yellow packaged goods."}], "detailed_task_instruction": ["Open the freezer door, then place the white packaged goods inside. Next, move the yellow packaged goods to their proper location within the freezer. Finally, close the freezer door to complete the tidying process."]}
{"task_id": "tidy_up_food_in_freezer", "episode_index": 167, "video_path": "tidy_up_food_in_freezer/videos/chunk-000/{video_key}/episode_000167.mp4", "tasks": ["Tidy up food in freezer."], "length": 1589, "index": 284821, "action_config": [{"start_frame": 0, "end_frame": 408, "action_text": "open the freezer door", "skill": "Open", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 408, "end_frame": 744, "action_text": "place the white packaged goods", "skill": "Strike", "language_memory": "The freezer door has been opened."}, {"start_frame": 744, "end_frame": 1122, "action_text": "move to the yellow packaged goods", "skill": "Navigate", "language_memory": "The robot has opened the freezer door and placed the white packaged goods inside."}, {"start_frame": 1122, "end_frame": 1451, "action_text": "close the freezer door", "skill": "Close", "language_memory": "The robot opened the freezer door, placed white packaged goods inside, and moved toward the yellow packaged goods."}], "detailed_task_instruction": ["Open the freezer door, then place the white packaged goods inside. Next, move the yellow packaged goods to their proper location within the freezer. Finally, close the freezer door to complete the tidying process."]}
{"task_id": "tidy_up_food_in_freezer", "episode_index": 168, "video_path": "tidy_up_food_in_freezer/videos/chunk-000/{video_key}/episode_000168.mp4", "tasks": ["Tidy up food in freezer."], "length": 1795, "index": 286410, "action_config": [{"start_frame": 0, "end_frame": 321, "action_text": "open the freezer door", "skill": "Open", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 321, "end_frame": 677, "action_text": "place the white packaged goods", "skill": "Strike", "language_memory": "The freezer door has been opened."}, {"start_frame": 677, "end_frame": 1223, "action_text": "move to the yellow packaged goods", "skill": "Navigate", "language_memory": "The robot has opened the freezer door and placed the white packaged goods inside."}, {"start_frame": 1223, "end_frame": 1668, "action_text": "close the freezer door", "skill": "Close", "language_memory": "The robot opened the freezer door, placed white packaged goods inside, and moved toward the yellow packaged goods."}], "detailed_task_instruction": ["Open the freezer door, then place the white packaged goods inside. Next, move the yellow packaged goods to their proper location within the freezer. Finally, close the freezer door to complete the tidying process."]}
{"task_id": "tidy_up_food_in_freezer", "episode_index": 169, "video_path": "tidy_up_food_in_freezer/videos/chunk-000/{video_key}/episode_000169.mp4", "tasks": ["Tidy up food in freezer."], "length": 1664, "index": 288205, "action_config": [{"start_frame": 0, "end_frame": 446, "action_text": "open the freezer door", "skill": "Open", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 446, "end_frame": 839, "action_text": "place the white packaged goods", "skill": "Strike", "language_memory": "The freezer door has been opened."}, {"start_frame": 839, "end_frame": 1236, "action_text": "move to the yellow packaged goods", "skill": "Navigate", "language_memory": "The robot has opened the freezer door and placed the white packaged goods inside."}, {"start_frame": 1236, "end_frame": 1536, "action_text": "close the freezer door", "skill": "Close", "language_memory": "The robot opened the freezer door, placed white packaged goods inside, and moved toward the yellow packaged goods."}], "detailed_task_instruction": ["Open the freezer door, then place the white packaged goods inside. Next, move the yellow packaged goods to their proper location within the freezer. Finally, close the freezer door to complete the tidying process."]}
{"task_id": "tidy_up_food_in_freezer", "episode_index": 170, "video_path": "tidy_up_food_in_freezer/videos/chunk-000/{video_key}/episode_000170.mp4", "tasks": ["Tidy up food in freezer."], "length": 2076, "index": 289869, "action_config": [{"start_frame": 0, "end_frame": 429, "action_text": "open the freezer door", "skill": "Open", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 429, "end_frame": 813, "action_text": "place the white packaged goods", "skill": "Strike", "language_memory": "The freezer door has been opened."}, {"start_frame": 813, "end_frame": 1397, "action_text": "move to the yellow packaged goods", "skill": "Navigate", "language_memory": "The robot has opened the freezer door and placed the white packaged goods inside."}, {"start_frame": 1397, "end_frame": 1938, "action_text": "close the freezer door", "skill": "Close", "language_memory": "The robot opened the freezer door, placed white packaged goods inside, and moved toward the yellow packaged goods."}], "detailed_task_instruction": ["Open the freezer door, then place the white packaged goods inside. Next, move the yellow packaged goods to their proper location within the freezer. Finally, close the freezer door to complete the tidying process."]}
{"task_id": "tidy_up_food_in_freezer", "episode_index": 171, "video_path": "tidy_up_food_in_freezer/videos/chunk-000/{video_key}/episode_000171.mp4", "tasks": ["Tidy up food in freezer."], "length": 1564, "index": 291945, "action_config": [{"start_frame": 0, "end_frame": 391, "action_text": "open the freezer door", "skill": "Open", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 391, "end_frame": 687, "action_text": "place the white packaged goods", "skill": "Strike", "language_memory": "The freezer door has been opened."}, {"start_frame": 687, "end_frame": 1148, "action_text": "move to the yellow packaged goods", "skill": "Navigate", "language_memory": "The robot has opened the freezer door and placed the white packaged goods inside."}, {"start_frame": 1148, "end_frame": 1449, "action_text": "close the freezer door", "skill": "Close", "language_memory": "The robot opened the freezer door, placed white packaged goods inside, and moved toward the yellow packaged goods."}], "detailed_task_instruction": ["Open the freezer door, then place the white packaged goods inside. Next, move the yellow packaged goods to their proper location within the freezer. Finally, close the freezer door to complete the tidying process."]}
{"task_id": "tidy_up_food_in_freezer", "episode_index": 172, "video_path": "tidy_up_food_in_freezer/videos/chunk-000/{video_key}/episode_000172.mp4", "tasks": ["Tidy up food in freezer."], "length": 1701, "index": 293509, "action_config": [{"start_frame": 0, "end_frame": 350, "action_text": "open the freezer door", "skill": "Open", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 350, "end_frame": 716, "action_text": "place the white packaged goods", "skill": "Strike", "language_memory": "The freezer door has been opened."}, {"start_frame": 716, "end_frame": 1200, "action_text": "move to the yellow packaged goods", "skill": "Navigate", "language_memory": "The robot has opened the freezer door and placed the white packaged goods inside."}, {"start_frame": 1200, "end_frame": 1595, "action_text": "close the freezer door", "skill": "Close", "language_memory": "The robot opened the freezer door, placed white packaged goods inside, and moved toward the yellow packaged goods."}], "detailed_task_instruction": ["Open the freezer door, then place the white packaged goods inside. Next, move the yellow packaged goods to their proper location within the freezer. Finally, close the freezer door to complete the tidying process."]}
{"task_id": "tidy_up_food_in_freezer", "episode_index": 173, "video_path": "tidy_up_food_in_freezer/videos/chunk-000/{video_key}/episode_000173.mp4", "tasks": ["Tidy up food in freezer."], "length": 1650, "index": 295210, "action_config": [{"start_frame": 0, "end_frame": 393, "action_text": "open the freezer door", "skill": "Open", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 393, "end_frame": 665, "action_text": "place the white packaged goods", "skill": "Strike", "language_memory": "The freezer door has been opened."}, {"start_frame": 665, "end_frame": 1136, "action_text": "move to the yellow packaged goods", "skill": "Navigate", "language_memory": "The robot has opened the freezer door and placed the white packaged goods inside."}, {"start_frame": 1136, "end_frame": 1517, "action_text": "close the freezer door", "skill": "Close", "language_memory": "The robot opened the freezer door, placed white packaged goods inside, and moved toward the yellow packaged goods."}], "detailed_task_instruction": ["Open the freezer door, then place the white packaged goods inside. Next, move the yellow packaged goods to their proper location within the freezer. Finally, close the freezer door to complete the tidying process."]}
{"task_id": "tidy_up_food_in_freezer", "episode_index": 174, "video_path": "tidy_up_food_in_freezer/videos/chunk-000/{video_key}/episode_000174.mp4", "tasks": ["Tidy up food in freezer."], "length": 1626, "index": 296860, "action_config": [{"start_frame": 0, "end_frame": 351, "action_text": "open the freezer door", "skill": "Open", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 351, "end_frame": 810, "action_text": "place the white packaged goods", "skill": "Strike", "language_memory": "The freezer door has been opened."}, {"start_frame": 810, "end_frame": 1203, "action_text": "move to the yellow packaged goods", "skill": "Navigate", "language_memory": "The robot has opened the freezer door and placed the white packaged goods inside."}, {"start_frame": 1203, "end_frame": 1524, "action_text": "close the freezer door", "skill": "Close", "language_memory": "The robot opened the freezer door, placed white packaged goods inside, and moved toward the yellow packaged goods."}], "detailed_task_instruction": ["Open the freezer door, then place the white packaged goods inside. Next, move the yellow packaged goods to their proper location within the freezer. Finally, close the freezer door to complete the tidying process."]}
{"task_id": "tidy_up_food_in_freezer", "episode_index": 175, "video_path": "tidy_up_food_in_freezer/videos/chunk-000/{video_key}/episode_000175.mp4", "tasks": ["Tidy up food in freezer."], "length": 1556, "index": 298486, "action_config": [{"start_frame": 0, "end_frame": 389, "action_text": "open the freezer door", "skill": "Open", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 389, "end_frame": 609, "action_text": "place the white packaged goods", "skill": "Strike", "language_memory": "The freezer door has been opened."}, {"start_frame": 609, "end_frame": 1098, "action_text": "move to the yellow packaged goods", "skill": "Navigate", "language_memory": "The robot has opened the freezer door and placed the white packaged goods inside."}, {"start_frame": 1098, "end_frame": 1422, "action_text": "close the freezer door", "skill": "Close", "language_memory": "The robot opened the freezer door, placed white packaged goods inside, and moved toward the yellow packaged goods."}], "detailed_task_instruction": ["Open the freezer door, then place the white packaged goods inside. Next, move the yellow packaged goods to their proper location within the freezer. Finally, close the freezer door to complete the tidying process."]}
{"task_id": "tidy_up_food_in_freezer", "episode_index": 176, "video_path": "tidy_up_food_in_freezer/videos/chunk-000/{video_key}/episode_000176.mp4", "tasks": ["Tidy up food in freezer."], "length": 1870, "index": 300042, "action_config": [{"start_frame": 0, "end_frame": 452, "action_text": "open the freezer door", "skill": "Open", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 452, "end_frame": 801, "action_text": "place the white packaged goods", "skill": "Strike", "language_memory": "The freezer door has been opened."}, {"start_frame": 801, "end_frame": 1322, "action_text": "move to the yellow packaged goods", "skill": "Navigate", "language_memory": "The robot has opened the freezer door and placed the white packaged goods inside."}, {"start_frame": 1322, "end_frame": 1776, "action_text": "close the freezer door", "skill": "Close", "language_memory": "The robot opened the freezer door, placed white packaged goods inside, and moved toward the yellow packaged goods."}], "detailed_task_instruction": ["Open the freezer door, then place the white packaged goods inside. Next, move the yellow packaged goods to their proper location within the freezer. Finally, close the freezer door to complete the tidying process."]}
{"task_id": "tidy_up_food_in_freezer", "episode_index": 177, "video_path": "tidy_up_food_in_freezer/videos/chunk-000/{video_key}/episode_000177.mp4", "tasks": ["Tidy up food in freezer."], "length": 1574, "index": 301912, "action_config": [{"start_frame": 0, "end_frame": 320, "action_text": "open the freezer door", "skill": "Open", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 320, "end_frame": 804, "action_text": "place the white packaged goods", "skill": "Strike", "language_memory": "The freezer door has been opened."}, {"start_frame": 804, "end_frame": 1217, "action_text": "move to the yellow packaged goods", "skill": "Navigate", "language_memory": "The robot has opened the freezer door and placed the white packaged goods inside."}, {"start_frame": 1217, "end_frame": 1478, "action_text": "close the freezer door", "skill": "Close", "language_memory": "The robot opened the freezer door, placed white packaged goods inside, and moved toward the yellow packaged goods."}], "detailed_task_instruction": ["Open the freezer door, then place the white packaged goods inside. Next, move the yellow packaged goods to their proper location within the freezer. Finally, close the freezer door to complete the tidying process."]}
{"task_id": "tidy_up_food_in_freezer", "episode_index": 178, "video_path": "tidy_up_food_in_freezer/videos/chunk-000/{video_key}/episode_000178.mp4", "tasks": ["Tidy up food in freezer."], "length": 1557, "index": 303486, "action_config": [{"start_frame": 0, "end_frame": 468, "action_text": "open the freezer door", "skill": "Open", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 468, "end_frame": 720, "action_text": "place the white packaged goods", "skill": "Strike", "language_memory": "The freezer door has been opened."}, {"start_frame": 720, "end_frame": 1056, "action_text": "move to the yellow packaged goods", "skill": "Navigate", "language_memory": "The robot has opened the freezer door and placed the white packaged goods inside."}, {"start_frame": 1056, "end_frame": 1506, "action_text": "close the freezer door", "skill": "Close", "language_memory": "The robot opened the freezer door, placed white packaged goods inside, and moved toward the yellow packaged goods."}], "detailed_task_instruction": ["Open the freezer door, then place the white packaged goods inside. Next, move the yellow packaged goods to their proper location within the freezer. Finally, close the freezer door to complete the tidying process."]}
{"task_id": "tidy_up_food_in_freezer", "episode_index": 179, "video_path": "tidy_up_food_in_freezer/videos/chunk-000/{video_key}/episode_000179.mp4", "tasks": ["Tidy up food in freezer."], "length": 1843, "index": 305043, "action_config": [{"start_frame": 0, "end_frame": 492, "action_text": "open the freezer door", "skill": "Open", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 492, "end_frame": 820, "action_text": "place the white packaged goods", "skill": "Strike", "language_memory": "The freezer door has been opened."}, {"start_frame": 820, "end_frame": 1260, "action_text": "move to the yellow packaged goods", "skill": "Navigate", "language_memory": "The robot has opened the freezer door and placed the white packaged goods inside."}, {"start_frame": 1260, "end_frame": 1806, "action_text": "close the freezer door", "skill": "Close", "language_memory": "The robot opened the freezer door, placed white packaged goods inside, and moved toward the yellow packaged goods."}], "detailed_task_instruction": ["Open the freezer door, then place the white packaged goods inside. Next, move the yellow packaged goods to their proper location within the freezer. Finally, close the freezer door to complete the tidying process."]}
{"task_id": "tidy_up_food_in_freezer", "episode_index": 180, "video_path": "tidy_up_food_in_freezer/videos/chunk-000/{video_key}/episode_000180.mp4", "tasks": ["Tidy up food in freezer."], "length": 1765, "index": 306886, "action_config": [{"start_frame": 0, "end_frame": 472, "action_text": "open the freezer door", "skill": "Open", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 472, "end_frame": 894, "action_text": "place the white packaged goods", "skill": "Strike", "language_memory": "The freezer door has been opened."}, {"start_frame": 894, "end_frame": 1267, "action_text": "move to the yellow packaged goods", "skill": "Navigate", "language_memory": "The robot has opened the freezer door and placed the white packaged goods inside."}, {"start_frame": 1267, "end_frame": 1720, "action_text": "close the freezer door", "skill": "Close", "language_memory": "The robot opened the freezer door, placed white packaged goods inside, and moved toward the yellow packaged goods."}], "detailed_task_instruction": ["Open the freezer door, then place the white packaged goods inside. Next, move the yellow packaged goods to their proper location within the freezer. Finally, close the freezer door to complete the tidying process."]}
{"task_id": "tidy_up_food_in_freezer", "episode_index": 181, "video_path": "tidy_up_food_in_freezer/videos/chunk-000/{video_key}/episode_000181.mp4", "tasks": ["Tidy up food in freezer."], "length": 1564, "index": 308651, "action_config": [{"start_frame": 0, "end_frame": 414, "action_text": "open the freezer door", "skill": "Open", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 414, "end_frame": 771, "action_text": "place the white packaged goods", "skill": "Strike", "language_memory": "The freezer door has been opened."}, {"start_frame": 771, "end_frame": 1060, "action_text": "move to the yellow packaged goods", "skill": "Navigate", "language_memory": "The robot has opened the freezer door and placed the white packaged goods inside."}, {"start_frame": 1060, "end_frame": 1523, "action_text": "close the freezer door", "skill": "Close", "language_memory": "The robot opened the freezer door, placed white packaged goods inside, and moved toward the yellow packaged goods."}], "detailed_task_instruction": ["Open the freezer door, then place the white packaged goods inside. Next, move the yellow packaged goods to their proper location within the freezer. Finally, close the freezer door to complete the tidying process."]}
{"task_id": "tidy_up_food_in_freezer", "episode_index": 182, "video_path": "tidy_up_food_in_freezer/videos/chunk-000/{video_key}/episode_000182.mp4", "tasks": ["Tidy up food in freezer."], "length": 1205, "index": 310215, "action_config": [{"start_frame": 0, "end_frame": 302, "action_text": "open the freezer door", "skill": "Open", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 302, "end_frame": 604, "action_text": "place the white packaged goods", "skill": "Strike", "language_memory": "The freezer door has been opened."}, {"start_frame": 604, "end_frame": 876, "action_text": "move to the yellow packaged goods", "skill": "Navigate", "language_memory": "The robot has opened the freezer door and placed the white packaged goods inside."}, {"start_frame": 876, "end_frame": 1143, "action_text": "close the freezer door", "skill": "Close", "language_memory": "The robot opened the freezer door, placed white packaged goods inside, and moved toward the yellow packaged goods."}], "detailed_task_instruction": ["Open the freezer door, then place the white packaged goods inside. Next, move the yellow packaged goods to their proper location within the freezer. Finally, close the freezer door to complete the tidying process."]}
{"task_id": "tidy_up_food_in_freezer", "episode_index": 183, "video_path": "tidy_up_food_in_freezer/videos/chunk-000/{video_key}/episode_000183.mp4", "tasks": ["Tidy up food in freezer."], "length": 1646, "index": 311420, "action_config": [{"start_frame": 0, "end_frame": 393, "action_text": "open the freezer door", "skill": "Open", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 393, "end_frame": 757, "action_text": "place the white packaged goods", "skill": "Strike", "language_memory": "The freezer door has been opened."}, {"start_frame": 757, "end_frame": 1203, "action_text": "move to the yellow packaged goods", "skill": "Navigate", "language_memory": "The robot has opened the freezer door and placed the white packaged goods inside."}, {"start_frame": 1203, "end_frame": 1611, "action_text": "close the freezer door", "skill": "Close", "language_memory": "The robot opened the freezer door, placed white packaged goods inside, and moved toward the yellow packaged goods."}], "detailed_task_instruction": ["Open the freezer door, then place the white packaged goods inside. Next, move the yellow packaged goods to their proper location within the freezer. Finally, close the freezer door to complete the tidying process."]}
{"task_id": "tidy_up_food_in_freezer", "episode_index": 184, "video_path": "tidy_up_food_in_freezer/videos/chunk-000/{video_key}/episode_000184.mp4", "tasks": ["Tidy up food in freezer."], "length": 1257, "index": 313066, "action_config": [{"start_frame": 0, "end_frame": 405, "action_text": "open the freezer door", "skill": "Open", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 405, "end_frame": 633, "action_text": "place the white packaged goods", "skill": "Strike", "language_memory": "The freezer door has been opened."}, {"start_frame": 633, "end_frame": 880, "action_text": "move to the yellow packaged goods", "skill": "Navigate", "language_memory": "The robot has opened the freezer door and placed the white packaged goods inside."}, {"start_frame": 880, "end_frame": 1212, "action_text": "close the freezer door", "skill": "Close", "language_memory": "The robot opened the freezer door, placed white packaged goods inside, and moved toward the yellow packaged goods."}], "detailed_task_instruction": ["Open the freezer door, then place the white packaged goods inside. Next, move the yellow packaged goods to their proper location within the freezer. Finally, close the freezer door to complete the tidying process."]}
{"task_id": "tidy_up_food_in_freezer", "episode_index": 185, "video_path": "tidy_up_food_in_freezer/videos/chunk-000/{video_key}/episode_000185.mp4", "tasks": ["Tidy up food in freezer."], "length": 1608, "index": 314323, "action_config": [{"start_frame": 0, "end_frame": 447, "action_text": "open the freezer door", "skill": "Open", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 447, "end_frame": 828, "action_text": "place the white packaged goods", "skill": "Strike", "language_memory": "The freezer door has been opened."}, {"start_frame": 828, "end_frame": 1206, "action_text": "move to the yellow packaged goods", "skill": "Navigate", "language_memory": "The robot has opened the freezer door and placed the white packaged goods inside."}, {"start_frame": 1206, "end_frame": 1570, "action_text": "close the freezer door", "skill": "Close", "language_memory": "The robot opened the freezer door, placed white packaged goods inside, and moved toward the yellow packaged goods."}], "detailed_task_instruction": ["Open the freezer door, then place the white packaged goods inside. Next, move the yellow packaged goods to their proper location within the freezer. Finally, close the freezer door to complete the tidying process."]}
{"task_id": "tidy_up_food_in_freezer", "episode_index": 186, "video_path": "tidy_up_food_in_freezer/videos/chunk-000/{video_key}/episode_000186.mp4", "tasks": ["Tidy up food in freezer."], "length": 1672, "index": 315931, "action_config": [{"start_frame": 0, "end_frame": 360, "action_text": "open the freezer door", "skill": "Open", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 360, "end_frame": 735, "action_text": "place the white packaged goods", "skill": "Strike", "language_memory": "The freezer door has been opened."}, {"start_frame": 735, "end_frame": 1137, "action_text": "move to the yellow packaged goods", "skill": "Navigate", "language_memory": "The robot has opened the freezer door and placed the white packaged goods inside."}, {"start_frame": 1137, "end_frame": 1545, "action_text": "close the freezer door", "skill": "Close", "language_memory": "The robot opened the freezer door, placed white packaged goods inside, and moved toward the yellow packaged goods."}], "detailed_task_instruction": ["Open the freezer door, then place the white packaged goods inside. Next, move the yellow packaged goods to their proper location within the freezer. Finally, close the freezer door to complete the tidying process."]}
{"task_id": "tidy_up_food_in_freezer", "episode_index": 187, "video_path": "tidy_up_food_in_freezer/videos/chunk-000/{video_key}/episode_000187.mp4", "tasks": ["Tidy up food in freezer."], "length": 1963, "index": 317603, "action_config": [{"start_frame": 0, "end_frame": 380, "action_text": "open the freezer door", "skill": "Open", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 380, "end_frame": 840, "action_text": "place the white packaged goods", "skill": "Strike", "language_memory": "The freezer door has been opened."}, {"start_frame": 840, "end_frame": 1345, "action_text": "move to the yellow packaged goods", "skill": "Navigate", "language_memory": "The robot has opened the freezer door and placed the white packaged goods inside."}, {"start_frame": 1345, "end_frame": 1743, "action_text": "close the freezer door", "skill": "Close", "language_memory": "The robot opened the freezer door, placed white packaged goods inside, and moved toward the yellow packaged goods."}], "detailed_task_instruction": ["Open the freezer door, then place the white packaged goods inside. Next, move the yellow packaged goods to their proper location within the freezer. Finally, close the freezer door to complete the tidying process."]}
{"task_id": "tidy_up_food_in_freezer", "episode_index": 188, "video_path": "tidy_up_food_in_freezer/videos/chunk-000/{video_key}/episode_000188.mp4", "tasks": ["Tidy up food in freezer."], "length": 1854, "index": 319566, "action_config": [{"start_frame": 0, "end_frame": 558, "action_text": "open the freezer door", "skill": "Open", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 558, "end_frame": 936, "action_text": "place the white packaged goods", "skill": "Strike", "language_memory": "The freezer door has been opened."}, {"start_frame": 936, "end_frame": 1299, "action_text": "move to the yellow packaged goods", "skill": "Navigate", "language_memory": "The robot has opened the freezer door and placed the white packaged goods inside."}, {"start_frame": 1299, "end_frame": 1695, "action_text": "close the freezer door", "skill": "Close", "language_memory": "The robot opened the freezer door, placed white packaged goods inside, and moved toward the yellow packaged goods."}], "detailed_task_instruction": ["Open the freezer door, then place the white packaged goods inside. Next, move the yellow packaged goods to their proper location within the freezer. Finally, close the freezer door to complete the tidying process."]}
{"task_id": "tidy_up_food_in_freezer", "episode_index": 189, "video_path": "tidy_up_food_in_freezer/videos/chunk-000/{video_key}/episode_000189.mp4", "tasks": ["Tidy up food in freezer."], "length": 1702, "index": 321420, "action_config": [{"start_frame": 0, "end_frame": 356, "action_text": "open the freezer door", "skill": "Open", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 356, "end_frame": 642, "action_text": "place the white packaged goods", "skill": "Strike", "language_memory": "The freezer door has been opened."}, {"start_frame": 642, "end_frame": 1199, "action_text": "move to the yellow packaged goods", "skill": "Navigate", "language_memory": "The robot has opened the freezer door and placed the white packaged goods inside."}, {"start_frame": 1199, "end_frame": 1592, "action_text": "close the freezer door", "skill": "Close", "language_memory": "The robot opened the freezer door, placed white packaged goods inside, and moved toward the yellow packaged goods."}], "detailed_task_instruction": ["Open the freezer door, then place the white packaged goods inside. Next, move the yellow packaged goods to their proper location within the freezer. Finally, close the freezer door to complete the tidying process."]}
{"task_id": "tidy_up_food_in_freezer", "episode_index": 190, "video_path": "tidy_up_food_in_freezer/videos/chunk-000/{video_key}/episode_000190.mp4", "tasks": ["Tidy up food in freezer."], "length": 1147, "index": 323122, "action_config": [{"start_frame": 0, "end_frame": 258, "action_text": "open the freezer door", "skill": "Open", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 258, "end_frame": 464, "action_text": "place the white packaged goods", "skill": "Strike", "language_memory": "The freezer door has been opened."}, {"start_frame": 464, "end_frame": 693, "action_text": "move to the yellow packaged goods", "skill": "Navigate", "language_memory": "The robot has opened the freezer door and placed the white packaged goods inside."}, {"start_frame": 693, "end_frame": 1080, "action_text": "close the freezer door", "skill": "Close", "language_memory": "The robot opened the freezer door, placed white packaged goods inside, and moved toward the yellow packaged goods."}], "detailed_task_instruction": ["Open the freezer door, then place the white packaged goods inside. Next, move the yellow packaged goods to their proper location within the freezer. Finally, close the freezer door to complete the tidying process."]}
{"task_id": "tidy_up_food_in_freezer", "episode_index": 191, "video_path": "tidy_up_food_in_freezer/videos/chunk-000/{video_key}/episode_000191.mp4", "tasks": ["Tidy up food in freezer."], "length": 1278, "index": 324269, "action_config": [{"start_frame": 0, "end_frame": 288, "action_text": "open the freezer door", "skill": "Open", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 288, "end_frame": 546, "action_text": "place the white packaged goods", "skill": "Strike", "language_memory": "The freezer door has been opened."}, {"start_frame": 546, "end_frame": 917, "action_text": "move to the yellow packaged goods", "skill": "Navigate", "language_memory": "The robot has opened the freezer door and placed the white packaged goods inside."}, {"start_frame": 917, "end_frame": 1200, "action_text": "close the freezer door", "skill": "Close", "language_memory": "The robot opened the freezer door, placed white packaged goods inside, and moved toward the yellow packaged goods."}], "detailed_task_instruction": ["Open the freezer door, then place the white packaged goods inside. Next, move the yellow packaged goods to their proper location within the freezer. Finally, close the freezer door to complete the tidying process."]}
{"task_id": "tidy_up_food_in_freezer", "episode_index": 192, "video_path": "tidy_up_food_in_freezer/videos/chunk-000/{video_key}/episode_000192.mp4", "tasks": ["Tidy up food in freezer."], "length": 1619, "index": 325547, "action_config": [{"start_frame": 0, "end_frame": 441, "action_text": "open the freezer door", "skill": "Open", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 441, "end_frame": 776, "action_text": "place the white packaged goods", "skill": "Strike", "language_memory": "The freezer door has been opened."}, {"start_frame": 776, "end_frame": 1176, "action_text": "move to the yellow packaged goods", "skill": "Navigate", "language_memory": "The robot has opened the freezer door and placed the white packaged goods inside."}, {"start_frame": 1176, "end_frame": 1553, "action_text": "close the freezer door", "skill": "Close", "language_memory": "The robot opened the freezer door, placed white packaged goods inside, and moved toward the yellow packaged goods."}], "detailed_task_instruction": ["Open the freezer door, then place the white packaged goods inside. Next, move the yellow packaged goods to their proper location within the freezer. Finally, close the freezer door to complete the tidying process."]}
{"task_id": "tidy_up_food_in_freezer", "episode_index": 193, "video_path": "tidy_up_food_in_freezer/videos/chunk-000/{video_key}/episode_000193.mp4", "tasks": ["Tidy up food in freezer."], "length": 1621, "index": 327166, "action_config": [{"start_frame": 0, "end_frame": 369, "action_text": "open the freezer door", "skill": "Open", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 369, "end_frame": 707, "action_text": "place the white packaged goods", "skill": "Strike", "language_memory": "The freezer door has been opened."}, {"start_frame": 707, "end_frame": 1079, "action_text": "move to the yellow packaged goods", "skill": "Navigate", "language_memory": "The robot has opened the freezer door and placed the white packaged goods inside."}, {"start_frame": 1079, "end_frame": 1523, "action_text": "close the freezer door", "skill": "Close", "language_memory": "The robot opened the freezer door, placed white packaged goods inside, and moved toward the yellow packaged goods."}], "detailed_task_instruction": ["Open the freezer door, then place the white packaged goods inside. Next, move the yellow packaged goods to their proper location within the freezer. Finally, close the freezer door to complete the tidying process."]}
{"task_id": "tidy_up_food_in_freezer", "episode_index": 194, "video_path": "tidy_up_food_in_freezer/videos/chunk-000/{video_key}/episode_000194.mp4", "tasks": ["Tidy up food in freezer."], "length": 1863, "index": 328787, "action_config": [{"start_frame": 0, "end_frame": 420, "action_text": "open the freezer door", "skill": "Open", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 420, "end_frame": 758, "action_text": "place the white packaged goods", "skill": "Strike", "language_memory": "The freezer door has been opened."}, {"start_frame": 758, "end_frame": 1278, "action_text": "move to the yellow packaged goods", "skill": "Navigate", "language_memory": "The robot has opened the freezer door and placed the white packaged goods inside."}, {"start_frame": 1278, "end_frame": 1740, "action_text": "close the freezer door", "skill": "Close", "language_memory": "The robot opened the freezer door, placed white packaged goods inside, and moved toward the yellow packaged goods."}], "detailed_task_instruction": ["Open the freezer door, then place the white packaged goods inside. Next, move the yellow packaged goods to their proper location within the freezer. Finally, close the freezer door to complete the tidying process."]}
{"task_id": "tidy_up_food_in_freezer", "episode_index": 195, "video_path": "tidy_up_food_in_freezer/videos/chunk-000/{video_key}/episode_000195.mp4", "tasks": ["Tidy up food in freezer."], "length": 1329, "index": 330650, "action_config": [{"start_frame": 0, "end_frame": 326, "action_text": "open the freezer door", "skill": "Open", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 326, "end_frame": 624, "action_text": "place the white packaged goods", "skill": "Strike", "language_memory": "The freezer door has been opened."}, {"start_frame": 624, "end_frame": 914, "action_text": "move to the yellow packaged goods", "skill": "Navigate", "language_memory": "The robot has opened the freezer door and placed the white packaged goods inside."}, {"start_frame": 914, "end_frame": 1289, "action_text": "close the freezer door", "skill": "Close", "language_memory": "The robot opened the freezer door, placed white packaged goods inside, and moved toward the yellow packaged goods."}], "detailed_task_instruction": ["Open the freezer door, then place the white packaged goods inside. Next, move the yellow packaged goods to their proper location within the freezer. Finally, close the freezer door to complete the tidying process."]}
{"task_id": "tidy_up_food_in_freezer", "episode_index": 196, "video_path": "tidy_up_food_in_freezer/videos/chunk-000/{video_key}/episode_000196.mp4", "tasks": ["Tidy up food in freezer."], "length": 2042, "index": 331979, "action_config": [{"start_frame": 0, "end_frame": 675, "action_text": "open the freezer door", "skill": "Open", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 675, "end_frame": 1191, "action_text": "place the white packaged goods", "skill": "Strike", "language_memory": "The freezer door has been opened."}, {"start_frame": 1191, "end_frame": 1596, "action_text": "move to the yellow packaged goods", "skill": "Navigate", "language_memory": "The robot has opened the freezer door and placed the white packaged goods inside."}, {"start_frame": 1596, "end_frame": 1928, "action_text": "close the freezer door", "skill": "Close", "language_memory": "The robot opened the freezer door, placed white packaged goods inside, and moved toward the yellow packaged goods."}], "detailed_task_instruction": ["Open the freezer door, then place the white packaged goods inside. Next, move the yellow packaged goods to their proper location within the freezer. Finally, close the freezer door to complete the tidying process."]}
{"task_id": "tidy_up_food_in_freezer", "episode_index": 197, "video_path": "tidy_up_food_in_freezer/videos/chunk-000/{video_key}/episode_000197.mp4", "tasks": ["Tidy up food in freezer."], "length": 1593, "index": 334021, "action_config": [{"start_frame": 0, "end_frame": 360, "action_text": "open the freezer door", "skill": "Open", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 360, "end_frame": 710, "action_text": "place the white packaged goods", "skill": "Strike", "language_memory": "The freezer door has been opened."}, {"start_frame": 710, "end_frame": 1124, "action_text": "move to the yellow packaged goods", "skill": "Navigate", "language_memory": "The robot has opened the freezer door and placed the white packaged goods inside."}, {"start_frame": 1124, "end_frame": 1464, "action_text": "close the freezer door", "skill": "Close", "language_memory": "The robot opened the freezer door, placed white packaged goods inside, and moved toward the yellow packaged goods."}], "detailed_task_instruction": ["Open the freezer door, then place the white packaged goods inside. Next, move the yellow packaged goods to their proper location within the freezer. Finally, close the freezer door to complete the tidying process."]}
{"task_id": "tidy_up_food_in_freezer", "episode_index": 198, "video_path": "tidy_up_food_in_freezer/videos/chunk-000/{video_key}/episode_000198.mp4", "tasks": ["Tidy up food in freezer."], "length": 1384, "index": 335614, "action_config": [{"start_frame": 0, "end_frame": 270, "action_text": "open the freezer door", "skill": "Open", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 270, "end_frame": 509, "action_text": "place the white packaged goods", "skill": "Strike", "language_memory": "The freezer door has been opened."}, {"start_frame": 509, "end_frame": 849, "action_text": "move to the yellow packaged goods", "skill": "Navigate", "language_memory": "The robot has opened the freezer door and placed the white packaged goods inside."}, {"start_frame": 849, "end_frame": 1283, "action_text": "close the freezer door", "skill": "Close", "language_memory": "The robot opened the freezer door, placed white packaged goods inside, and moved toward the yellow packaged goods."}], "detailed_task_instruction": ["Open the freezer door, then place the white packaged goods inside. Next, move the yellow packaged goods to their proper location within the freezer. Finally, close the freezer door to complete the tidying process."]}
{"task_id": "tidy_up_food_in_freezer", "episode_index": 199, "video_path": "tidy_up_food_in_freezer/videos/chunk-000/{video_key}/episode_000199.mp4", "tasks": ["Tidy up food in freezer."], "length": 1701, "index": 336998, "action_config": [{"start_frame": 0, "end_frame": 318, "action_text": "open the freezer door", "skill": "Open", "language_memory": "This is the first subtask, and no subtasks have been completed yet."}, {"start_frame": 318, "end_frame": 648, "action_text": "place the white packaged goods", "skill": "Strike", "language_memory": "The freezer door has been opened."}, {"start_frame": 648, "end_frame": 1245, "action_text": "move to the yellow packaged goods", "skill": "Navigate", "language_memory": "The robot has opened the freezer door and placed the white packaged goods inside."}, {"start_frame": 1245, "end_frame": 1599, "action_text": "close the freezer door", "skill": "Close", "language_memory": "The robot opened the freezer door, placed white packaged goods inside, and moved toward the yellow packaged goods."}], "detailed_task_instruction": ["Open the freezer door, then place the white packaged goods inside. Next, move the yellow packaged goods to their proper location within the freezer. Finally, close the freezer door to complete the tidying process."]}